LRF-based servo system for a manipulator grasping moving cylinders움직이는 원통형 물체를 잡는 매니퓰레이터를 위한레이저 거리계 기반의 서보시스템
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Cheon, H. | ko |
| dc.contributor.author | Kim, Byung Kook | ko |
| dc.date.accessioned | 2013-03-07T13:21:00Z | - |
| dc.date.available | 2013-03-07T13:21:00Z | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.issued | 2008-03 | - |
| dc.identifier.citation | Journal of Institute of Control, Robotics and Systems, v.14, no.3, pp.263 - 272 | - |
| dc.identifier.issn | 1976-5622 | - |
| dc.identifier.uri | http://hdl.handle.net/10203/90271 | - |
| dc.description.abstract | 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. | - |
| dc.language | Korean | - |
| dc.publisher | Institute of Control, Robotics and Systems | - |
| dc.title | LRF-based servo system for a manipulator grasping moving cylinders | - |
| dc.title.alternative | 움직이는 원통형 물체를 잡는 매니퓰레이터를 위한레이저 거리계 기반의 서보시스템 | - |
| dc.type | Article | - |
| dc.identifier.scopusid | 2-s2.0-84860234005 | - |
| dc.type.rims | ART | - |
| dc.citation.volume | 14 | - |
| dc.citation.issue | 3 | - |
| dc.citation.beginningpage | 263 | - |
| dc.citation.endingpage | 272 | - |
| dc.citation.publicationname | Journal of Institute of Control, Robotics and Systems | - |
| dc.contributor.localauthor | Kim, Byung Kook | - |
| dc.contributor.nonIdAuthor | Cheon, H. | - |
| dc.subject.keywordAuthor | LRF-based servo system | - |
| dc.subject.keywordAuthor | Manipulator control system | - |
| dc.subject.keywordAuthor | Real-time control architecture | - |
- Appears in Collection
- EE-Journal Papers(저널논문)
- Files in This Item
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.