Mechanics and co-ordinated control of aro-II twin articulated robot arms

Abstract

The general approach of Mechatronics is illustrated by particular engineering decisions incorporated in the ARO-5 d.o.f. Articulated ROBot arm, developed at the Institute of Mechanics and Biomechanics in Sofia. The complex consideration of different problems, including the number of d.o.f., kinematic structure, disposition of actuators and transmissions, controller hardware and software, computational effort for kinematics evaluation in real-time and model referenced adaptive control etc., motivated new, mechanically and computationally effective, typical mechatronics solutions, providing joint motions kinematic decoupling by purely mechanical means and dynamic decoupling via control, controller modularity and universality. Some more sophisticated ideas about trajectory planning of multi-robot arms in their relative space and application of advanced control technologies to robotics are illustrated by the example of the ARO-II twin co-operating ARO robot arms.