Title :
A study on the moving mechanism for flower robot
Author :
Park, H.K. ; Jung, S.M. ; Choi, J.H. ; Park, S.H. ; Yoon, C.H. ; Park, J.O.
Author_Institution :
Chonnam Nat. Univ., Gwangju
Abstract :
As a service robot, we proposed a flower robot which has several functions, such as moving mechanism, sensing ability, and home appliance functions. Among the various functions, the moving function of the flower robot is very important function. The moving flower robot can be divided as a flower, a stem and leaves. We tried to mimic the blooming of flower, the swaying of the stem and the stirring of the leaves in the wind. For the actuation of the flower robot, we used micromotors and tendon mechanisms. From the motions of the flower, the stem and the leaves, the desired target positions are decided. In addition, based on inverse kinematics and trajectory generations, the overall control system for the moving flower robot is constructed. Through the various experiments, the performances of each part of the flower robot are verified and the characteristics are discussed.
Keywords :
motion control; position control; robot kinematics; service robots; inverse kinematics; micromotors; moving flower robot; service robot; tendon mechanisms; trajectory generations; Aging; Control systems; Home appliances; Intelligent robots; Robot sensing systems; Robotics and automation; Service robots; Silver; Temperature sensors; Tendons; Flower Robot; Moving Function; Service Robot; Tendon Mechanism;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406787