Diseño y control de un brazo robótico

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Robotic Arm

1)6-DOF PC-Based Robotic Arm (PC-ROBOARM) with efficient trajectory planning and speed control

Wong Guan Hao ; Leck, Y.Y. ; Lim Chot Hun

Mechatronics (ICOM), 2011 4th International Conference On

Digital Object Identifier: 10.1109/ICOM.2011.5937171

Publication Year: 2011 , Page(s): 1 - 7

Over the past decades, design and control a robotic arm is not an easy job. Many consideration need to be taken care while designing and controlling robotic arm. In addition, different robotic arm design may lead to different control solution. Furthermore, it is difficult for the robotic arm to follow the assigned geometry path in high precision and accuracy manner. This paper introduces the design and development of 6-DOF (degree of freedom) PC-Based Robotic Arm (PC-ROBOARM). The main context of the study is concerning a 6-DOF robotic arm, which is modeled as three-link, with each joint connected with a suitable servomotor. The robotic arm design and control solution is implemented by self developed computer software which is named as SMART ARM. It is a computer aided design and control solution for 6-DOF robotic arm which come with an user friendly graphical user interface (GUI). It allows user to model or design virtual robotic arm before building the real one. Therefore, the user can estimate the optimum size of actual robotic arm at the beginning so as to minimize the building cost and suite the practical environment. Furthermore, once the actual robotic arm has been built, the user can reuse the software to control the actual robotic arm in an effortless way without wasting time in constructing new control solution. The software also provides simulation feature. Through simulation in the GUI, the software assists greatly in visualizing the robotic arm trajectory planning. The PC-ROBOARM is actual robotic arm developed to prove the simulation results. The 6-DOF robotic arm design is based on PUMA (Programmable Universal Machine for Assembly) jointed-arm model. Both point-to-point motion and continuous path motion are tested in simulation and actual arm controls.

2)Basic laboratory experiments with an educational robotic arm

Krasnansky, P. ; Toth, F. ; Huertas, V.V. ; Rohal'-Ilkiv, B.

Process Control (PC), 2013 International Conference on

This work addresses design and construction issues of a laboratory robotic arm for educational purposes. First of all, the robotic arm performance analysis has been accomplished using Matlab / Simulink / SimMechanics. The obtained knowledge has been utilized to develop the suitable algorithms for analyzing the robotic arm kinematics. Once the SimMechanics model is successfully determined, a real-time xPC target system is used in order to connect the real laboratory robotic arm with the corresponding Matlab / Simulink block diagram. It is important to remark that the developed robotic arm is a convenient tool for learning robotics at any favorable technical university laboratory. On the other hand, the manipulator has six degrees of freedom. Three degrees of freedom correspond to the robotic arm and the rest belongs to the gripper. Moreover, the necessary electronic modules have been developed in order to allow a successful standard communication with the available laboratory devices.

3)Motion planning and control of interactive humanoid robotic arms

Chung-Hsien Kuo ; Yu-Wei Lai ; Kuo-Wei Chiu ; Shih-Tseng Lee

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Humanoid robots are widely discussed in recent years. The motion planning and control of humanoid robots can be discussed based on mobility of platforms and manipulations of arms. In this paper, we propose a robotic arm which manipulation is analog to the motion of humanpsilas upper extremities. The proposed robotic arm is designed as a seven degree-of-freedom configuration. To increase the interactivity with humans, a six-axis force sensor is attached on the wrist of the robot to capture the force applied on the robotic arm. Subsequently, the robotic arm is moved following the force applied on the wrist. In addition to the compliance of humanpsilas motion, the robotic arm is capable of dynamically planning spatial trajectories for various straight lines, circles, or predefined paths. Especially, due to the structure of this seven degree-of-freedom robotic arm, we cannot find a unique solution for the inverse kinematics. In this work, we present a behavior based inverse kinematics approach to solve this problem in terms of the fuzzy reasoning. Various behaviors for a given spatial position or path, such as writing, pickup, etc., may result different inverse kinematic solution, and may generate different elbow trajectories as well. Therefore, the proposed robotic arm not only has similar structure to humans, but also represents similar behavior to humans. More specially, the compliance function makes this robotic arm possible to interact with humans. Consequently, a robotic arm with tendon driven architecture is demonstrated to validate the proposed motion planning and control approaches based on an ARM based controller.

Robotic arm control system

4) Integration of the robotic arm control system

Wu, J. ; Chandadai, S. ; Anderson, J.N.

System Theory, 1994., Proceedings of the 26th Southeastern Symposium on

The robotic arm control system (RACS) replaces the servo-level controller of the factory-supplied VAL controller (used with the PUMA 562 robot) for the purpose of implementing and testing advanced robot control algorithms. High-level operations can be performed either by RACS or by the VAL controller's host-level processor. Major aspects of the RACS integration effort are described including hardware modifications, arm calibration processes and routines, firmware for the VAL controller interface and the RACS system software. Effectiveness and operation of RACS are demonstrated by implementation of the PD control algorithm

5) Position signal interface for the robotic arm control system

Praturu, S.P. ; Anderson, J.N.

System Theory, 1991. Proceedings., Twenty-Third Southeastern Symposium on

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