The Development of Six D.O.F. Robot Arm For Intelligent Robot
The Development of Six D.O.F. Robot Arm For Intelligent Robot
The Development of Six D.O.F. Robot Arm For Intelligent Robot
Des-Hun Tu
I.
INTRODUCTION
A robot arm is a mechanical device that is driven by
electric motors, pneumatic devices, or hydraulic actuators.
The motion model of a robot arm decides the geometric forms
of the robot arm. The basic geometric forms of robot arm
include the Cartesian coordinate, cylindrical coordinate,
spherical coordinate, and the articulated coordinate.
There were quite a few researches regarding the robot
arm. For example, Ahmad [1] discussed the drive train of a
robot arm. Due to the backlashes, the eccentric joints, and the
influences that the flexibility of driving axles would have on
the accuracy and repeat accuracy of the arm positioning,
Ahmad used linear positioning compensation and obtained
good effects. Lee and Shah [2] conducted the kinematic
analysis of a robot arm of the closed kinematic chains,
utilizing the Homogeneous Transformation method to do the
analysis of the parallel-link robot arms, while calculating the
moving space. Veitschegger and Wu [3] developed the
kinematic adjustment model of the PUMA560 six-axis robot
arm. They used the model on compensating the positioning
tolerance of the manipulator. The experiments proved that it
could improve the positioning accuracy.
- 977 -
n +1The
n +1,
letting Zn
(1)
A.
Figure 4. The link relations between the joints and the links
Joint
1
2
3
4
5
n +1,
letting Xn be parallel
+1,
0
0
0
0
0
0
0
T
he D-H parameters of each axis will be brought into the D-H
transformation matrix in equation (1). The transformation
matrixes of two joints are shown as follows:
- 978 -
(2)
(3)
(4)
(5)
(6)
(7)
where
(25)
IV. SIMULATION OF THE ROBOT ARM
In the research, we proposed a simulation method,
inputting the 3D model of the robot arm into software such as
Matlab and Simulink(Matlabs build-in tool). We used its
unique program language S-Function and programmed the
expected control method. Then, the simulation results would
come out. Figure 6 shows the Matlabs illustration of the joint
links. Figure 7 shows the block diagram of the robot arm.
- 979 -
press the execution key, and the diagram of speed and position
analysis will be obtained as shown in Figure 9.
In addition, we could use the toolbox in the M-file folder,
and put it in the work section of the Matlab software. After
setting up the moving path, we could load the robot arms
assembly model. With the toolboxs additional functions, we
could make a five axis robot arm simulation as shown in
Figure 9 by forward kinematics.
Figure 12. Matlab software was used to make the inverse kinematics
simulation of the robot arm
V. HARDWARE CONFIGURATION
In order to achieve the purpose of accurate positioning,
the control structure of robot arm can be divided into
kinematic path programming, position control, velocity
control, and current voltage control, etc.. From the hardware
design point of view, the motion controller runs according to
the users preset program, or through learning the kinematic
path of the robot arm, in order to produce the motion control
code of the robot arm.
Figure 13 shows the hardware configuration of the sixaxis robot arm. This research used the National Instruments
(NI) eight-axis DSP based motion control card to control the
six-axis robot arm. Before using the 8-axis motion control
card to control the robot arms movements, every axis
parameter (such as: PID parameter) must be adjusted first, so
that every axis motor could achieve excellent control
response. This 8-axis motion control card could use the
computer to automatically tune every axis PID parameter.
PC based controller
Drivers
Figure 11. The manipulator was configured to move through a motion path
like 123.
I n t hi s r e sear c h, we al so ma d e i n ver se
ki n e ma ti c s a na l ys i s o f t he r o b o t a r m. Given the end
point of the manipulator, what angles do the joints need to be
in the achieve that end point. Firstly, a motion planning
interface was used to plan the trajectory of the manipulator of
the robot arm. As shown in Figure 11, the manipulator was
configured to move through a motion path like 123. After
- 980 -
DC servo motor
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5 Axis 6
(a)
VII. CONCLUSION
This article has completed the design and production of
one robot arm of the intelligent robot, and verified the robot
arms kinematic equations. In addition, each axis data
calculated from inverse kinematics were utilized along with the
DSP based motion control system to complete the control of
the six-axis robot arm. Finally, we make some experiments;
the PC based controller can control the robot arm to grab a box
through a moving path successfully.
The future goal is to make the robot arm be able to grab
things by using the machine vision system. After completing
these experiments, we will finish producing the second robot
arm and establishing its kinematic paths and dynamics analysis,
as well as inserting different control methods. For example,
the neural control, reinforcement learning, and the fuzzy
control theory, etc.. These could be applied to the robot arms
dynamic control, so that some difficult and complicated
movements could be easily executed. In the end, we need to
work on the cooperative operation and motion control of two
robot arms. With the aid of machine vision system and force
sensor, the two robot arms will be able to complete a lot of
tasks.
ACKNOWLEDGMENT
(b)
(d)
[2]
[3]
(e)
[4]
[5]
(f)
[6]
[7]
(g)
(h)
(i)
(j)
Figure 14. The robot arm pick and place a box from right to left across a
partition plate.
- 981 -