Author(s):
1. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia

Abstract:
An advanced 7 DOF robotic arm research platform (NeuroArm) equipped with various sensors, and controlled by seven 16 bit processors and one 32 bit Core Embedded PC running 2.6 Linux. The NeuroArm comes with a suite of software including a MATLAB configuration and analysis toolkit, and a suite of C, API libraries and low level protocols for all joint level controls and sensors. All robot joints are controlled by high performance Maxon motors and planetary gearboxes with high load sealed SKF bearings. Main joints are observed by sensors to measure position, speed, acceleration and torques. The robot incorporates, as standard, a novel human-robot safety interaction system to facilitate robot operation in close proximity to people. Software tools including the Cyberbotics Webots Simulation package. Webots is a development environment used to model, program and simulate mobile robot and it is well suited for research and educational projects related to mobile robotics. With Webots the user can design complex robotic setups, with one or several, similar or different robots, in a shared environment. The properties of each object, such as shape, color, texture, mass, friction, etc., are chosen by the user. A large choice of simulated sensors and actuators is available to equip each robot. The robot controllers can be programmed with the built-in IDE or with third party development environments. The robot behavior can be tested in physically realistic worlds. Webots also contains a number of interfaces to real mobile robots, so that once your simulated robot behaves as expected, you can transfer its control program to a real robot like e-puck, Khepera, Hemisson, LEGO Mindstorms, Aibo, etc. A Webots simulation is composed of these things: a) a Webots world file that define one or more 3D robot and their environment,b) controller programs for the above robots, c) an optional supervisor. With Webots, we can create complex virtual environments for your mobile robot simulations, using advanced graphics, with lights, shading, texture mapping, shadows, etc. Moreover, Webots allows you to import 3D models from most 3D modelling software through the VRML97 standard. Finally, the effectiveness of Webots will be demonstrated on suitable model of Neuroarm.

Key words:
Neuro, robot, 7, dofs, human-robot, safety, interaction, Webots-Simulation, package, virtual, environments

Thematic field:
Mehatronika

Opening paper:
Yes

Date of abstract submission:
31.12.2010.

Number of visits:
966

Conference:
11^th International Conference on Accomplishments in Mechanical and Industrial Engineering

Applied paper from author