Title :
An open 5-DOF manipulator platform and its control applications
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
In order to study the hardware, software, and control algorithms for robot manipulators, an open 5-DOF robot manipulator experimental platform is built. This platform has the open feature by which the researchers can access software as well as hardware of the system. The study results on manipulator remote control and force control by using this experimental platform show this experimental platform has open characteristics: the DSP hardware controller, MATLAB software, control algorithms, etc. can be employed. Therefore, it provides an excellent experimental platform for robotics research.
Keywords :
digital signal processing chips; force control; manipulator dynamics; manipulator kinematics; mathematics computing; telecontrol; DSP hardware controller; MATLAB software; control algorithms; control applications; force control; manipulator remote control; open 5-DOF robot manipulator experimental platform; Artificial neural networks; IP networks; MATLAB; Mathematical model; Robots; Robustness; Tuning; 5-DOF manipulator; ADAMS model; impedance control;
Conference_Titel :
Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on
Conference_Location :
Shengyang
Print_ISBN :
978-1-4799-2564-3
DOI :
10.1109/MEC.2013.6885172
