• Title/Summary/Keyword: eight joint robot

Search Result 15, Processing Time 0.036 seconds

Tracing Algorithm for Intelligent Snake-like Robot System

  • Choi, Woo-Kyung;Kim, Seong-Joo;Jeon, Hong-Tae
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2005.06a
    • /
    • pp.486-491
    • /
    • 2005
  • There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

  • PDF

A Study on Track Record and Trajectory Control of Robot Manipulator with Eight Joints Based on Monitoring Simulator for Smart Factory

  • Kim, Hee-jin;Jang, Gi-won;Kim, Dong-ho;Han, Sung-hyun
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.23 no.4_1
    • /
    • pp.549-558
    • /
    • 2020
  • We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

Research about Intelligent Snake Robot (지능형 뱀 로봇에 관한 연구)

  • Kim, Seong-Joo;Kim, Jong-Soo;Jeon, Hong-Tae
    • Journal of the Korean Institute of Intelligent Systems
    • /
    • v.13 no.1
    • /
    • pp.70-75
    • /
    • 2003
  • There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

Implementation of Real-Time Fuzzy Controller for SCARA Type Dual-Arm Robot (스카라형 이중 아암 로봇의 실시간 퍼지제어기 실현)

  • Kim Hong-Rae;Han Sung-Hyun
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.10 no.12
    • /
    • pp.1223-1232
    • /
    • 2004
  • We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

Design of a Adaptive Controller of Industrial Robot with Eight Joint Based on Digital Signal Processor

  • Han, Sung-Hyun;Jung, Dong-Yean;Kim, Hong-Rae
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2004.08a
    • /
    • pp.741-746
    • /
    • 2004
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

  • PDF

A Study on Kinematics Analysis and Motion Control of Humanoid Robot Arm with Eight Joints (휴머노이드 로봇 관절 아암의 운동학적 해석 및 모션제어에 관한 연구)

  • Jung, Yang-Geun;Lim, O-Duek;Kim, Min-Seong;Do, Ki-Hoon;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.20 no.1
    • /
    • pp.49-55
    • /
    • 2017
  • This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

Robust Control of Dual Arm Robot with Eight Joint Based-on Self-Organization Fuzzy Control (자기구성 퍼지제어에 의한 8축 로봇의 강인제어)

  • 신행봉;김종수;김홍래;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2004.10a
    • /
    • pp.187-192
    • /
    • 2004
  • In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

  • PDF

A Robust Adaptive Control of Dual Arm Robot with Eight-Joints Based on DSPs (DSPs 기반 8축 듀얼암 로봇의 견실적응제어)

  • Han, Sung-Hyun
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.12 no.12
    • /
    • pp.1220-1230
    • /
    • 2006
  • In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

Gait Programming of Quadruped Bionic Robot

  • Li, Mingying;Jia, Chengbiao;Lee, Eung-Joo;Feng, Yiran
    • Journal of Multimedia Information System
    • /
    • v.8 no.2
    • /
    • pp.121-130
    • /
    • 2021
  • Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

A Study on Kinematics Modeling and Motion Control Algorithm Development in Joint for Vertical Type Articulated Robot Arma (수직다관절형 아암의 운동학적 모델링 및 관절공간 모션제어에 관한 연구)

  • Jo, Sang-Young;Kim, Min-Seong;Yang, Jun-Seok;Won, Jong-Beom;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.19 no.1
    • /
    • pp.18-30
    • /
    • 2016
  • In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.