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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design and Control of Robot Arm for Inspection and Rescue Operations

재난 탐사 및 구조를 위한 로봇팔 설계 및 제어

  • Kang, Jin-Il (Ocean Science and Technology School, KIOST-KMOU) ;
  • Choi, Hyeung-Sik (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Jun, Bong-Huan (Korea Research Institute of Ship and Ocean Engineering) ;
  • Ji, Dae-Hyeong (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Oh, Ji-Yoon (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Kim, Joon-Young (Department of Mechanical Engineering, Korea Maritime and Ocean University)
  • 강진일 (한국해양과학기술원-한국해양대학교 해양과학기술전문대학원) ;
  • 최형식 (한국해양대학교 기계공학과) ;
  • 전봉환 (선박해양플랜트연구소) ;
  • 지대형 (한국해양대학교 기계공학과) ;
  • 오지윤 (한국해양대학교 기계공학과) ;
  • 김준영 (한국해양대학교 기계공학과)
  • Received : 2016.08.21
  • Accepted : 2016.10.10
  • Published : 2016.11.01
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Abstract

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

Keywords

References

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