TY - GEN
T1 - Analysis and experimental research on service robot oriented light modular mechanical arm
AU - Dian-Sheng, Chen
AU - Zhen, Li
AU - Jun-Mao, Yin
PY - 2013
Y1 - 2013
N2 - Light modular mechanical arm is widely used in service robots. This paper combines the SHUNCK 7 DOF mechanical arm in the application of nursing robot, building its kinematics model, analyzing the inverse kinematic problem with the geometry method against specific grasping task, and the dynamic problem with the Newton-Euler method to achieve the smooth movement of the terminal. At last, construct the 3D model of the mechanical arm with OpenGL and conduct the dynamic simulation of the joints in the PC interface. Through a given task on the actual mechanical arm, the feasibility of modeling and analysis method, as well as validity of simulation result are testified. With the theoretical analysis as the basis, the mechanical arm could accomplish the grasping task smoothly and accurately, which lays a foundation for the nursing robot to achieve more advanced tasks autonomously.
AB - Light modular mechanical arm is widely used in service robots. This paper combines the SHUNCK 7 DOF mechanical arm in the application of nursing robot, building its kinematics model, analyzing the inverse kinematic problem with the geometry method against specific grasping task, and the dynamic problem with the Newton-Euler method to achieve the smooth movement of the terminal. At last, construct the 3D model of the mechanical arm with OpenGL and conduct the dynamic simulation of the joints in the PC interface. Through a given task on the actual mechanical arm, the feasibility of modeling and analysis method, as well as validity of simulation result are testified. With the theoretical analysis as the basis, the mechanical arm could accomplish the grasping task smoothly and accurately, which lays a foundation for the nursing robot to achieve more advanced tasks autonomously.
KW - Dynamics
KW - Experimental Verification
KW - Kinematics
KW - Modeling
KW - OpenGL Simulation
UR - https://www.scopus.com/pages/publications/84881400536
U2 - 10.1109/ICIEA.2013.6566404
DO - 10.1109/ICIEA.2013.6566404
M3 - 会议稿件
AN - SCOPUS:84881400536
SN - 9781467363211
T3 - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
SP - 409
EP - 414
BT - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
T2 - 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Y2 - 19 June 2013 through 21 June 2013
ER -