Title :
The new design of robot arm
Author :
Vojtko, I. ; Kocisko, M. ; Janak, M. ; Fecova, V.
Author_Institution :
Dept. of Production Technol., Univ. of Kosice, Presov, Slovakia
Abstract :
A flexible arm that can take ideally any shape in the three dimensions will necessarily consist of many elements that can move concerning each other. In order to control the shape of such a device (motion of the robot) each element needs an actuator and sensors. For basic modelling of this system behaviour we have to know, measure or suppose behaviour of basic parts of flexible arm. Because the pneumatic spring is a basic part (except servodrives and control) its mathematical model has been created for further using in control and regulation theory. After mathematical describing of pneumatic spring the block diagram has been created. Deduced model of pneumatic spring has been simulated by computer and confronted with physical experimental modelling in laboratory.
Keywords :
actuators; dexterous manipulators; flexible manipulators; manipulator dynamics; motion control; pneumatic systems; sensors; springs (mechanical); actuator; arm dimension; block diagram; control theory; flexible arm; pneumatic spring; regulation theory; robot arm design; robot motion control; sensor; servodrives; shape control; system behaviour modeling; Computational modeling; Manipulators; Mathematical model; Pneumatic systems; Robot sensing systems; Springs;
Conference_Titel :
Applied Machine Intelligence and Informatics (SAMI), 2013 IEEE 11th International Symposium on
Conference_Location :
Herl´any
Print_ISBN :
978-1-4673-5928-3
Electronic_ISBN :
978-1-4673-5927-6
DOI :
10.1109/SAMI.2013.6480943
