Wireless control of an electro-hydraulic robotic manipulator

Šitum, Željko and Žgela, Dalibor and Benić, Juraj (2018) Wireless control of an electro-hydraulic robotic manipulator. = Wireless control of an electro-hydraulic robotic manipulator. In: 11th International Fluid Power Conference, 19-21.03.2018., Aachen, Njemačka.

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Abstract

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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): robotic manipulator ; electro-hydraulics ; wireless control
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 14 Sep 2018 11:46
Last Modified: 14 Nov 2018 09:18
URI: http://repozitorij.fsb.hr/id/eprint/8735

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