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Design and Control of Robot Arm for Inspection and Rescue Operations
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재난 탐사 및 구조를 위한 로봇팔 설계 및 제어

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Type
Academic journal
Author
Jin-Il Kang (한국해양과학기술원) Hyeung-Sik Choi (한국해양대학교) Bong-Huan Jun (한국해양과학기술원) Dae-Hyeong Ji (한국해양대학교) Ji-Yoon Oh (한국해양대학교) Joon-Young Kim (한국해양대학교)
Journal
Institute of Control, Robotics and Systems Journal of Institute of Control, Robotics and Systems Vol.22 No.11 KCI Accredited Journals SCOPUS
Published
2016.11
Pages
888 - 894 (7page)
DOI
10.5302/J.ICROS.2016.16.0161

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Design and Control of Robot Arm for Inspection and Rescue Operations
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Abstract· Keywords

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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.
#inspection robot arm #rescue operation robot arm #waterproof #kinematics

Contents

Abstract
Ⅰ. 서론
Ⅱ. 재난지역 탐사용 로봇팔
Ⅲ. 로봇팔의 동역학 해석
Ⅳ. 제어 시스템
Ⅴ. 실험 결과
Ⅵ. 결론
REFERENCES

References (11)

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[보고서] - J. G. Kemeny / 1979 / Report of the President’s Commission on the Accident at Three Mile Island google schola [학술지(정기간행물)] - R. R. Murphy / 2004 / Activities of the rescue robots at the world trade center from 11-21 September 2001 / IEEE Robotics and Automation Magazine 50 (61) : 50 ~ 61 google schola [학술대회논문] - T. Frost / 2002 / Derived performance metrics and measurements compared to field experience for the packbot / Proceedings of the 2002 PerMIS Workshop google schola [학술대회논문] - J. R White / 1989 / Hazardous-duty robots-experiences and needs / Proc. IEEE/RSJ Int. Workshop on Intelligent Robots and Systems(IROS ’89) : 262 ~ 267 google schola [인터넷자원] - / / Web site of Trends in Japan, Rescue Robots google schola

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