Advanced hardware control for seven DOFs robotic arm-neuro arm
Apstrakt
In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.
Izvor:
IOP Conference Series: Materials Science and Engineering, 2018, 393, 1Izdavač:
- Institute of Physics Publishing
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Inteligentni sistemi upravljanja klimatizacije u cilju postizanja energetski efikasnih režima u složenim uslovima eksploatacije (RS-MESTD-Technological Development (TD or TR)-33047)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Cvetković, Boško AU - Nešić, V. AU - Lazarević, Mihailo AU - Mandić, Petar AU - Marić, P. AU - Dragović, M. PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2968 AB - In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus. PB - Institute of Physics Publishing C3 - IOP Conference Series: Materials Science and Engineering T1 - Advanced hardware control for seven DOFs robotic arm-neuro arm IS - 1 VL - 393 DO - 10.1088/1757-899X/393/1/012110 ER -
@conference{ author = "Cvetković, Boško and Nešić, V. and Lazarević, Mihailo and Mandić, Petar and Marić, P. and Dragović, M.", year = "2018", abstract = "In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.", publisher = "Institute of Physics Publishing", journal = "IOP Conference Series: Materials Science and Engineering", title = "Advanced hardware control for seven DOFs robotic arm-neuro arm", number = "1", volume = "393", doi = "10.1088/1757-899X/393/1/012110" }
Cvetković, B., Nešić, V., Lazarević, M., Mandić, P., Marić, P.,& Dragović, M.. (2018). Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering Institute of Physics Publishing., 393(1). https://doi.org/10.1088/1757-899X/393/1/012110
Cvetković B, Nešić V, Lazarević M, Mandić P, Marić P, Dragović M. Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering. 2018;393(1). doi:10.1088/1757-899X/393/1/012110 .
Cvetković, Boško, Nešić, V., Lazarević, Mihailo, Mandić, Petar, Marić, P., Dragović, M., "Advanced hardware control for seven DOFs robotic arm-neuro arm" in IOP Conference Series: Materials Science and Engineering, 393, no. 1 (2018), https://doi.org/10.1088/1757-899X/393/1/012110 . .