Pregled bibliografske jedinice broj: 953274
Wireless Control of an Electro-Hydraulic Robotic Manipulator
Wireless Control of an Electro-Hydraulic Robotic Manipulator // Fluid power networks: proceedings: 19th-21th March 2018: 11th International Fluid Power Conference, [Bd.] Vol. 2 / Murrenhoff, H. (ur.).
Aachen: RWTH Aachen University, 2018. str. 387-395 doi:10.18154/RWTH-2018-224356 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Wireless Control of an Electro-Hydraulic Robotic Manipulator
Autori
Šitum, Željko ; Žgela, Dalibor ; Benić, Juraj
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Fluid power networks: proceedings: 19th-21th March 2018: 11th International Fluid Power Conference, [Bd.] Vol. 2
/ Murrenhoff, H. - Aachen : RWTH Aachen University, 2018, 387-395
ISBN
978-3-95886-215-9
Skup
11th International Fluid Power Conference
Mjesto i datum
Aachen, Njemačka, 19.03.2018. - 21.03.2018
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
robotic manipulator ; electro-hydraulics ; wireless control
Sažetak
This paper deals with the design, practical realization and wireless control of a prototype of an electro-hydraulic robotic manipulator (EHROM) suitable for handling heavy weight objects in industrial environment. The EHROM has been designed in the Laboratory for Automation and Robotics at the Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb. The prototype has been completely built in cooperation with two Croatian companies and is fully open to implementations of various control methods. The robotic manipulator has three-degrees-of- freedom (spherical or polar kinematic configuration) with a hydraulic gripper at the end of the mechanical structure. The manipulator uses a load sensing hydraulic system that provides superior controllability regardless of the load and also contributes to the energy efficiency. Originally the manipulator had no advanced way of being operated, other than the use of joystick or levers on the hydraulic valve block itself. The control system has been upgraded with an assembly suitable for wireless control of the manipulator using a mobile device on iOS platform. This multidisciplinary task involved skills in mechanical engineering, electronics and electrics, as well as computing. The paper focuses on the wireless control of the manipulator using a low-cost microcontroller and custom made controlling interface.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
POVEZANOST RADA
Projekti:
120-1201842-1839 - Optimalno upravljanje energijom u fluidnoj tehnici i elektromehaničkim sustavima (Šitum, Željko, MZOS ) ( CroRIS)
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb
