Design and Control of a Waterproof Robot Arm Applying the Gravity Compensator
This study is about the design and control of waterproof 4-axis robot arm that allows underwater operation. To enhance the load capacity of the robot arm, a module-type gravity compensator (GC) is designed and applied to each joint. The dynamic equation of the robot arm was set up and analyzed by in...
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| Veröffentlicht in: | Applied Mechanics and Materials 2014-03, Vol.541-542 (Engineering and Manufacturing Technologies), p.1132-1139 |
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| container_end_page | 1139 |
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| container_issue | Engineering and Manufacturing Technologies |
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| container_title | Applied Mechanics and Materials |
| container_volume | 541-542 |
| creator | Choi, Hyeung Sik Ha, Ji Hoon Joo, Young Do Kim, Dong Hee |
| description | This study is about the design and control of waterproof 4-axis robot arm that allows underwater operation. To enhance the load capacity of the robot arm, a module-type gravity compensator (GC) is designed and applied to each joint. The dynamic equation of the robot arm was set up and analyzed by including frictional force of waterproof apparatus and compensating force of the GC. A SMC was designed and its performance was tested through simulation to track a target trajectory despite disturbance such as friction in joints. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.541-542.1132 |
| format | Article |
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| identifier | ISSN: 1660-9336 |
| ispartof | Applied Mechanics and Materials, 2014-03, Vol.541-542 (Engineering and Manufacturing Technologies), p.1132-1139 |
| issn | 1660-9336 1662-7482 1662-7482 |
| language | eng |
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| source | Scientific.net Journals |
| subjects | Compensators Disturbances Dynamic tests Friction Gravitation Mathematical analysis Robots Target tracking |
| title | Design and Control of a Waterproof Robot Arm Applying the Gravity Compensator |
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