Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-24T05:33:39.040Z Has data issue: false hasContentIssue false
  • English
  • Français

Integration of a plug-and-play desktop robotic system

Published online by Cambridge University Press:  01 May 2009

Jianbo Su  and
Yanjun Zhang
Jianbo Su*
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
Yanjun Zhang
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper describes the development of a desktop robotic system that enables the plug-and-play function through the USB (universal serial bus) port of a personal computer (PC). Thus a new kind of desktop PC peripheral is invented that has programmable manipulability. The robotic system is realized on an internally distributed control structure that facilitates higher system reliability. A PID control algorithm is implemented on a prototype of the proposed system, to demonstrate the system's ability to implement feedback control. Experimental results show the performance and properties of the proposed system.

Keywords

Plug-and-playUSBDistributed digital controlRobot arm
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 403 - 409
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.International Federation of Robotics, World Robotics 2003, http://www.ifr.org.Google Scholar
2.Wyeth, G. F., Kennedy, J. and Lillywhite, J., “Distributed Digital Control of a Robot Arm,” Proceedings of the Australaian Conference on Robotics and Automation (ACRA 2000), Melbourne (2000) pp. 217–222.Google Scholar
3.Mikkelsen, J., “A Machine Vision System Controlling a Lynx Arm Robot Along a Path,” Technical Report, University of Cape Town, South Africa (Oct. 28, 1998).Google Scholar
4.Intelitek SCORBOT-ER 5plus Robotic Arm (Jan. 2004), http://www.intelitek.com/.Google Scholar
5.Universal Serial Bus Specification Revision 2.0 (Sept. 2003), http://www.usb.org/.Google Scholar
6.Kouyama, T., Nano, H., Kon, C. and Shimizu, N., “The Design of a USB Device Controller IYOYOYO,” Proceedings of the Asia and South Pacific Design Automation Conference, Katakyashu, Japan (Jan. 2003) pp. 573–574.Google Scholar
7.Lego, Company, “Mindstorms?NXT?Kit”, http://mindstorms.lego.com/, (Sept. 2003).Google Scholar
8.Sensable, Technologies, “Sensable FreeForm Modeling and Modeling Plus Systems Introduction”, http://www.sensable.com/products-freeform-systems.htm, (Feb. 2004).Google Scholar
9.Kyoung-Youn, Cho and Kwang-ho, Choi, “A Novel Architecture of Home Gateway for Efficient Packet Process,” Proceedings of IEEE Workshop on Knowledge Media Networking, Kyoto, Japan (Jul. 2002) pp. 63–67.CrossRefGoogle Scholar
10.Axelson, J., “USB Complete-Everything You Need To Develop Custom USB Peripherals,” Lakeview Research, Madison, (1999) pp. 14–16.Google Scholar
11.Morita, M. and Uchikado, S., “New Design of Visual Servoing Using an Uncalibrated Camera and a Calibrated Robot,” Proceedings of the IEEE 28th Annual Conference of the Industrial Electronics Society, Sevilla, Spain, Vol. 3 (Nov. 2002) pp. 1954–1959.Google Scholar
12.Zheng, Z., “Application of Distributed Control Unit (DCU) in Machine Control Area,” Proceedings of IEEE International Conference on Electronics, Circuits and Systems, Lisboa, Portugal, Vol. 1 (Sep. 1998) pp. 249–252.Google Scholar
13.Purkayashta, P., Sood, S. and Padmanabhan, K., “Computer Aided Engineering of Distributed Control Systems,” Proceedings of IEEE/IAS International Conference on Industrial Automation and Control, Taipei, Taiwan (1995) pp. 441–444.Google Scholar
14.Tarn, T. J., “Effect of motor dynamics on nonlinear feedback robot arm control,” IEEE Trans. Rob. Automat. 7 (1) (Feb. 1991) pp. 114–122.Google Scholar
15.Parkin, R., The Basis for New Industrial Development (Comput. Mech. Publications, Southampton, UK, 1994) pp. 521–526.Google Scholar
16.Sciavicco, L. and Siciliano, B., Modelling and Control of Robot Manipulators (Springer Verlag, New York, 2000) pp. 9–10.CrossRefGoogle Scholar
17.Kushida, D., Nakamura, M., Goto, S. and Kyura, N., “Force-Free Control of Articulated Robot Arm Considering Velocity Along Assigned Locus,” Proceedings of the 41st SICE Annual Conference, Osaka, Japan, Vol. 4 (2002) pp. 2167–2171.Google Scholar
18.Coelho, C. J. N. Jr., Fernandes, A. O., de Oliveira, M. P. and Tavares, A. I., “An Embedded Converter From RS232 to Universal Serial Bus,” Proceedings of 14th Symposium on Integrated Circuits and Systems Design, Pirenopolis, Brazil (Sep. 2001) pp. 91–96.Google Scholar
19.Wei, Y., Vaughan, T. R., Sukhatme, G. S., Heidemann, J., Estrin, D. and Mataric, M. J., “Evaluating Control Strategies for Wireless Networked Robots Using an Integrated Robot and Network Simulation”, Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, South Korea, Vol. 3 (2001) pp. 2941–2947.Google Scholar
20.Chella, A., Di Gesu, V., Gerardi, G., Infantino, I., Intravaia, D., Lenzitti, B., Bosco, G. Lo, Messina, A., Pirrone, R. and Storniolo, P., “DAISY: A Distributed Architecture for Intelligent System”, Proceedings of the 4th IEEE International Workshop on Computer Architecture for Machine Perception, Boston, USA (Oct. 1997) pp. 42–50.Google Scholar
21.Tarn, T. J., “Performance comparison of four manipulator servo schemes,” IEEE Control Syst. Mag. 13 (1), 22–29 (Feb. 1993).Google Scholar
22.Su, J., Qiu, W., Ma, H. and Woo, P., “Calibration-free robotic eye–hand coordination based on an auto disturbance-rejection controller,” IEEE Trans. Rob. 20 (5), 899–907 (Oct. 2004).Google Scholar