Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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LRF-Based Servo System for a Manipulator Grasping Moving Cylinders

움직이는 원통형 물체를 잡는 매니퓰레이터를 위한 레이저 거리계 기반의 서보시스템

  • 천홍석 (KAIST 전자전산학과 전기전자) ;
  • 김병국 (KAIST 전자전산학과 전기전자)
  • Published : 2008.03.01
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Abstract

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

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References

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