LRF-based servo system for a manipulator grasping moving cylinders 움직이는 원통형 물체를 잡는 매니퓰레이터를 위한레이저 거리계 기반의 서보시스템

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 319
  • Download : 0
We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2008-03
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.14, no.3, pp.263 - 272

ISSN
1976-5622
URI
http://hdl.handle.net/10203/90271
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0