TY - GEN
T1 - A Collaboration Robot Arm Platform based on Integration Joints for Manufacturing and Medical
AU - Tian, Huanyu
AU - Duan, Xingguang
AU - Cui, Tengfei
AU - Han, Zhe
AU - Shi, Qingxin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - An aluminum-links collaboration manipulator based on the Kollmorgen RGM joint and embedded control system is presented in this paper. Because of its low inertia and reduction ratio, this manipulator can be used for human-robot collaboration. The purpose is solving the problem of human security and the operability in human-robot collaboration environment. CANopen bus is used and obtains a steady control period up to 2.5ms. As for motion planning layers, a PC platform using Robot Operating System(ROS) send trajectory points to our manipulator controller. Finally, the motion interpolation and trajectory closed-loop control algorithm is designed, and a physical trajectory tracking experiment of the Kollmorgen manipulator is done, and obtained trajectory error within 3 percent.
AB - An aluminum-links collaboration manipulator based on the Kollmorgen RGM joint and embedded control system is presented in this paper. Because of its low inertia and reduction ratio, this manipulator can be used for human-robot collaboration. The purpose is solving the problem of human security and the operability in human-robot collaboration environment. CANopen bus is used and obtains a steady control period up to 2.5ms. As for motion planning layers, a PC platform using Robot Operating System(ROS) send trajectory points to our manipulator controller. Finally, the motion interpolation and trajectory closed-loop control algorithm is designed, and a physical trajectory tracking experiment of the Kollmorgen manipulator is done, and obtained trajectory error within 3 percent.
UR - http://www.scopus.com/inward/record.url?scp=85084300629&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066549
DO - 10.1109/CYBER46603.2019.9066549
M3 - Conference contribution
AN - SCOPUS:85084300629
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 36
EP - 41
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -