Design of a 5-Joint Mechanical Arm with User-Friendly Control Program
This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.
[1] The Canandarm : Remote Manipulator System (RMS), Available:
http://ffden-2.phys.uaf.edu/211.web.stuff/Adamczak/rms.htm
[2] G. Hirzinger, N. Sporer, M. Schedl, J. Butterfass, M. Grebenstein,
"Robotics and mechatronics in aerospace," The 7th International
Workshop on Advanced Motion Control, 2002, pp. 19-27.
[3] B. Shah, and H. Choset, "Surveys on Urban Search and Rescue
Robotics," Carnegie Mellon University, 2005.
[4] World RoboCup. Available: http://www.robocup.org/
[5] A. Tunwannarux, S. Hirunyaphisutthikul, "Design features and
characteristics of a rescue robot," Proceedings of International
Symposium on Communications and Information Technologies (ISCIT),
2005.
[6] C. Zhou, "Robot motion analysis - Kinematics," 1999. Available:
http://www2.isye.gatech.edu/~czhou/MOTION.pdf
[7] Thailand Rescue Robot Championship Competition rules 2006.
Available: http://www.trs.or.th
[8] World RoboCup 2007. Available: http://www.robocup-us.org/
[9] J. G. Blitch, "Artificial Intelligence Technologies for Robot Assisted
Urban Search and Rescue," Expert Systems with Applications, vol. 11(2),
1996, pp 109-124.
[10] A. Tunwannarux, S. Tunwannarux, "CEO Mission II rescue robot
project report", UTCC, 2007.
[1] The Canandarm : Remote Manipulator System (RMS), Available:
http://ffden-2.phys.uaf.edu/211.web.stuff/Adamczak/rms.htm
[2] G. Hirzinger, N. Sporer, M. Schedl, J. Butterfass, M. Grebenstein,
"Robotics and mechatronics in aerospace," The 7th International
Workshop on Advanced Motion Control, 2002, pp. 19-27.
[3] B. Shah, and H. Choset, "Surveys on Urban Search and Rescue
Robotics," Carnegie Mellon University, 2005.
[4] World RoboCup. Available: http://www.robocup.org/
[5] A. Tunwannarux, S. Hirunyaphisutthikul, "Design features and
characteristics of a rescue robot," Proceedings of International
Symposium on Communications and Information Technologies (ISCIT),
2005.
[6] C. Zhou, "Robot motion analysis - Kinematics," 1999. Available:
http://www2.isye.gatech.edu/~czhou/MOTION.pdf
[7] Thailand Rescue Robot Championship Competition rules 2006.
Available: http://www.trs.or.th
[8] World RoboCup 2007. Available: http://www.robocup-us.org/
[9] J. G. Blitch, "Artificial Intelligence Technologies for Robot Assisted
Urban Search and Rescue," Expert Systems with Applications, vol. 11(2),
1996, pp 109-124.
[10] A. Tunwannarux, S. Tunwannarux, "CEO Mission II rescue robot
project report", UTCC, 2007.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62804", author = "Amon Tunwannarux and Supanunt Tunwannarux", title = "Design of a 5-Joint Mechanical Arm with User-Friendly Control Program", abstract = "This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.", keywords = "Multi-joint, mechanical arm, inverse kinematics,rescue robot, GUI control program.", volume = "2", number = "1", pages = "107-6", }