Title :
3DOF drawing robot using LEGO-NXT
Author :
Hámori, Ákos ; Lengyel, János ; Reskó, Barna
Author_Institution :
Alba Regia Univ. Center, Obuda Univ., Szekesfehervar, Hungary
Abstract :
This paper presents a 3 DOF robotic arm used for drawing on a paper sheet. The robotic arm is constructed using LEGO NXT bricks. The purpose of the development was to create a control system of the servo motors for the robot, as well as the inverse kinematics, used for moving the arm. The NXT controller is running LejOS for optimal motor control, while inverse kinematics is being calculated on a PC connected to the NXT via bluetooth. The robotic arm is well applied in education projects about robotics and robot programming.
Keywords :
Bluetooth; control engineering computing; manipulator kinematics; optimal control; robot programming; servomotors; 3 DOF robotic arm; 3DOF drawing robot; LEGO NXT bricks; LejOS; optimal motor control; robot programming; servo motor control system; the inverse kinematics; Hardware; Joints; Kinematics; Libraries; Robot kinematics; Software;
Conference_Titel :
Intelligent Engineering Systems (INES), 2011 15th IEEE International Conference on
Conference_Location :
Poprad
Print_ISBN :
978-1-4244-8954-1
DOI :
10.1109/INES.2011.5954761
