Motion control of meal-assistance based on a five-axis modular robot arm

2013 ◽  
pp. 321-324
Author(s):  
Ying-Shieh Kung ◽  
Ming-Shyan Wang ◽  
Chien-Ming Huang ◽  
Bui Linh ◽  
Tz-Han Jung
Keyword(s):  
Motion Control ◽  
Robot Arm ◽  
Modular Robot ◽  
Five Axis

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

D39 Proposal of a multistage Tensegric robot arm and its motion control

2013 ◽  
Vol 2013.13 (0) ◽  
pp. _D39-1_-_D39-8_
Author(s):  
Kazuhiro MIYASHITA ◽  
Akira SHIRAHAMA ◽  
Toru WATANABE
Keyword(s):  
Motion Control ◽  
Robot Arm

Design of Five Axis Cooperation Machine Based on Motion Control Board

2013 ◽  
Vol 300-301 ◽  
pp. 1463-1466
Author(s):  
Shang Wei Yang ◽  
Shu Kun Cao ◽  
Jia Jia
Keyword(s):  
Motion Control ◽  
Visual Basic ◽  
Cnc Machine ◽  
Cnc System ◽  
Control Card ◽  
Open Cnc ◽  
Motion Control Card ◽  
Open Cnc System ◽  
High Level ◽  
Five Axis

Abstract. PC-based open CNC system can fully take advantage of the computer's hardware and software resources, which can use a common high-level language: Visual C++ or Visual Basic to program. User can mix and use the standardized peripherals, application software flexibly, we use the self-developed five-axis CNC machine is experimental platform, which can develop open CNC system based on PC and motion control card. Using of five-axis machine motion control design based on "PC + motion control card" on Visual C++ platform.

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