한국생산제조학회 학술지 영문 홈페이지
[ Technical Papers ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 31, No. 5, pp.338-345
ISSN: 2508-5107 (Online)
Print publication date 15 Oct 2022
Received 22 Aug 2022 Revised 22 Sep 2022 Accepted 29 Sep 2022
DOI: https://doi.org/10.7735/ksmte.2022.31.5.338

6자유도 오픈소스 로봇팔의 기구학 해석 및 시뮬레이터 개발

이상헌a, *
Kinematic Analysis and Development of Robot Simulator for Open-Source Six-Degree-of-Freedom Robot Arm
SangHeon Leea, *
aDepartment of Mechanical & Robotics Engingeering, Andong National University

Correspondence to: *Tel.: +82-54-820-5908 E-mail address: shlee@andong.ac.kr (SangHeon Lee).

Abstract

With the advancement of three-dimensional printing technologies and the disclosure of the technology under open source, an environment has been created where individuals can easily handle cutting-edge technology handled by expert groups. However, it is still difficult to use the available information without background knowledge of engineering technology. A robot model that can be used for educational and personal projects was selected among the open-source robot arms to assist users in utilizing the benefits of this technological trend. The kinematic analysis, trajectory generation, and position error analysis of the robot arm were performed, and a robot simulator that simulates and operates the robot via communication was developed. Tests including multiple-degree-of-freedom motions demonstrated the feasibility of the developed robot simulator and open-source robot arm for advanced applications.

Keywords:

Kinematic analysis, Trajectory generation, Robot simulator, Open-source robot

Acknowledgments

이 논문은 안동대학교 기본연구지원사업에 의해 연구되었음.

References

  • Instructables, n.d., viewed 20 Aug. 2022, <https://instructables.com, >.
  • Github, n.d., viewed 20 Aug. 2022, <https://github.com, >.
  • RoboDK, n.d., viewed 20 Aug. 2022, <https://robodk.com, >.
  • CoppeliaSim, n.d., viewed 20 Aug. 2022, <https://coppeliarobotics.com, >.
  • GAZEBO, n.d., viewed 20 Aug. 2022, <https://classic.gazebosim.org, >.
  • MoveIt, n.d., viewed 20 Aug. 2022, <https://moveit.ros.org, >.
  • Webots, n.d., viewed 20 Aug. 2022, <https://cyberbotics.com, >.
  • Korea Association of Robot Industry, 2021, viewed 20 Aug. 2022, Report of Robot Industry Status Survey Results as of 2020 Korea Association of Robot Industry, <https://www.korearobot.or.kr/wp/2021/12/07/, >.
  • SkeyentificGit, n.d., viewed 20 Aug. 2022, <https://github.com/SkyentificGit/SmallRobotArm, >.
  • BNC3D, n.d., viewed 20 Aug. 2022, <https://github.com/BCN3D/BCN3D-Moveo, >.
  • Thor, n.d., viewed 20 Aug. 2022, <http://thor.angel-lm.com/, >.
  • DIY TECH., n.d., viewed 20 Aug. 2022, <https://www.diytechnology.com/010-kauda>.
  • PCrnjak, n.d., viewed 20 Aug. 2022, <https://github.com/PCrnjak/Faze4-Robotic-arm, >.
  • AR ANNIN ROBOTICS, n.d., viewed 20 Aug. 2022, <https://www.anninrobotics.com/, >.
  • Niku, S. B., 2020, Introduction to Robotics Analysis, Control, Applications, John Wiley & sons, U.K..
  • Han, S. H., Choi, Y., Yang, J., Hwang, H., Kim, K., Shin, J., Jang, D. Y., Sim, D. H., 2019, Improved Wall-following Driving for Robot Operating System-based High-speed Autonomous Mobile Robot, J. Korean Soc. Manuf. Technol. Eng., 28:3 156-165. [https://doi.org/10.7735/ksmte.2019.28.3.156]
SangHeon Lee

Professor in the Department of Mechanical & Robotics Engineering, Andong National University. His research interest is the design and control of mechatronics systems.

E-mail: shlee@andong.ac.kr