Design and Control of a Waterproof Robot Arm Applying the Gravity Compensator

Hyeung Sik Choi; Dong Hee Kim; Young Do Joo; Ji Hoon Ha

doi:10.4028/www.scientific.net/AMM.541-542.1132

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Design and Control of a Waterproof Robot Arm...

Design and Control of a Waterproof Robot Arm Applying the Gravity Compensator

Abstract:

This study is about the design and control of waterproof 4-axis robot arm that allows underwater operation. To enhance the load capacity of the robot arm, a module-type gravity compensator (GC) is designed and applied to each joint. The dynamic equation of the robot arm was set up and analyzed by including frictional force of waterproof apparatus and compensating force of the GC. A SMC was designed and its performance was tested through simulation to track a target trajectory despite disturbance such as friction in joints.

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Periodical:

Applied Mechanics and Materials (Volumes 541-542)

Pages:

1132-1139

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.541-542.1132

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Online since:

March 2014

Authors:

Hyeung Sik Choi*, Dong Hee Kim, Young Do Joo, Ji Hoon Ha

Keywords:

Controller, Dynamic, Gravity Compensator, Robot Arm, Waterproof

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* - Corresponding Author

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