IT Assembly Process Gripper Real-Time Embedded System Design

Sun Lim; Hak Sang Jung; Seung Yong Lee; Young Woo Park; Il Kyun Jung

doi:10.4028/www.scientific.net/AMM.865.463

Paper Titles

Damping Force and Energy Regeneration Characteristics of the Regenerative Pendulum Vibration Absorber
p.434

Neuron Net for Forming Optimal Smooth Trajectories Based on Bezier Splines
p.442

An Increase in Accuracy of Robotic Milling
p.450

Fault Detection of Actuators of Robot Manipulator by Vision System
p.457

IT Assembly Process Gripper Real-Time Embedded System Design
p.463

Thermal State of Implantable Mechatronic Unit for Pulsative Total Artificial Heart
p.468

Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm
p.474

Research on Vibration Isolation System Based on Disturbance Observer PID Control Algorithm
p.480

The Synthesis of Variable Structure System for the Control of Quadrotor Spatial Motion
p.486

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 865IT Assembly Process Gripper Real-Time Embedded...

IT Assembly Process Gripper Real-Time Embedded System Design

Abstract:

In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 865)

Pages:

463-467

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.865.463

Citation:

Cite this paper

Online since:

June 2017

Authors:

Sun Lim*, Hak Sang Jung, Seung Yong Lee, Young Woo Park, Il Kyun Jung

Keywords:

Assembly, Gripper, Industrial Robot, LVDT, Manipulator, Manual Stiffness Module, Real Time, Torque Control, Xenomai

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] S. H. Lee, Y. L. Kim, J. B. Song, Torque sensor calibration using virtual load for a manipulator, Int. J. Prec. Eng. Manuf. 11(2) (2010) 219–225.

DOI: 10.1007/s12541-010-0025-0

Google Scholar

[2] L. D. Phong, J. H. Choi, S. C. Kang, External force estimation using joint torque sensors for a robot manipulator, Proc. of the IEEE Int. Conf. on Robotics and Automation, (2012), pp.1050-4729.

DOI: 10.1109/icra.2012.6224977

Google Scholar

[3] S. Morikawa, T. Senoo, A. Namiki, M. Ishikawa, Real-time collision avoidance using a robot manipulator with Light-weight small high-speed vision system, Proc. of the IEEE Int. Conf. on Robotics and Automation, (2007), pp.794-799.

DOI: 10.1109/robot.2007.363083

Google Scholar

[4] G. Tonietti, R. Schiavi, A. Bicchi, Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction, Proc. of the IEEE Int. Conf. on Robotics and Automation, (2005), pp.526-531.

DOI: 10.1109/robot.2005.1570172

Google Scholar

[5] S. Haddadin, A. Albu-Schaffer, G. Hirzinger, Safety evaluation of physical human-robot interaction via crashtesting, Robotics: Science and Systems Conf., (2007), 217-224.

DOI: 10.7551/mitpress/7830.003.0029

Google Scholar