Title :
Development of Modular Robot Joint
Author :
Qing-Xuan, Jia ; Han-Xu, Sun ; Jingzhou, Song ; Tao, Cheng ; Ping, Zheng
Author_Institution :
Autom. Sch., Beijing Univ. of Posts & Telecommun., Beijing
Abstract :
This paper presents a method for modular robot joint that integrates mechanical part and control system. After the analysis of stress and distortion, it sets up a matrix model with errors. At the same time, PCI adapter and DSP servo controller are designed. The characteristics of the module are tested and analyzed. The main characteristics meet the design target.
Keywords :
control system analysis; control system synthesis; robot dynamics; stress analysis; DSP servo controller; PCI adapter; distortion analysis; matrix model; modular robot joint; stress analysis; Arresters; Automatic control; Control systems; Design methodology; Digital signal processing; Gears; Robot sensing systems; Robotics and automation; Stress; Switches;
Conference_Titel :
Industrial Informatics, 2006 IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9700-2
Electronic_ISBN :
0-7803-9701-0
DOI :
10.1109/INDIN.2006.275669
