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Design and control of robot arm for inspection and rescue operations
- Authors
- Kang, J.-I.; Choi, H.-S.; Jun, B.-H.; Ji, D.-H.; Oh, J.-Y.; Kim, J.-Y.
- Issue Date
- 2016
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Inspection robot arm; Kinematics; Rescue operation robot arm; Waterproof
- Citation
- Journal of Institute of Control, Robotics and Systems, v.22, no.11, pp 888 - 894
- Pages
- 7
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 22
- Number
- 11
- Start Page
- 888
- End Page
- 894
- ISSN
- 1976-5622
- 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.
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