3D 프린팅을 이용한 저가형 휴머노이드 암 설계 및 제어에 관한 연구

Abstract

In this paper, the aim is creation of control system for humanoid robot arm. Humanoid robot is taking the huge part in the robot development field recently. Also, humanoid robots are being used in many fields starting from education and in completion of different tasks. Therefore, in this paper we focused on developing control system for humanoid robot, which allows us to prepare basis of applying control method to various types of manipulators. To achieve the goals of this article, a hardware basis of the manipulator was created, which is used to conduct tests and analyze the results. The 3D printed open-source robot platform InMoov was taken as the basis for the manipulator. The control system was created on the basis of kinematic calculations for manipulators. Method used in calculating inverse kinematics is Damped Least-Squares method. The article presents a step-by-step description of the kinematic calculations, a description of the control system and hardware device. The analysis showed a high accuracy of the chosen method for calculating inverse kinematics. And in the experimental part were presented the results of tests of inverse kinematics and the control method using the hardware of the manipulator. Based on the results of the analysis of kinematic calculations and the results obtained in the course of the experiment, conclusions were made on the improvement of the control method in the future, and future work was also determined.