Modeling of Violin Playing Robot Arm with MATLAB/SIMULINK

In this research, we consider modeling of violin playing robot arm. MATLAB/SIMULINK are used for modeling of robot arm with seven degrees of freedom is considered, which is flexible than previously used robot arms with 6 joint for violin playing. Also, previous robot system which used Mitsubishi ind...

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Bibliographic Details
Published inRobot Intelligence Technology and Applications 4 Vol. 447; pp. 249 - 261
Main Authors Yura, Jargalbaatar, Oyun-Erdene, Mandakh, Byambasuren, Bat-Erdene, Kim, Donghan
Format Book Chapter
LanguageEnglish
Published Switzerland Springer International Publishing AG 2016
Springer International Publishing
SeriesAdvances in Intelligent Systems and Computing
Subjects
Artificial intelligence
Human–robot interaction
PID control
Robot arm
Robotics
Servo motor
Violin playing robot
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Summary:In this research, we consider modeling of violin playing robot arm. MATLAB/SIMULINK are used for modeling of robot arm with seven degrees of freedom is considered, which is flexible than previously used robot arms with 6 joint for violin playing. Also, previous robot system which used Mitsubishi industrial robot arm (RV-2SD) is updated. In this model, torque, current consumption and voltage of each joint can be measured. Dynamixel-Pro from Robotis Co., Ltd. is used for the joints. This robot arm with seven joint has same range of movement (RoM) with human. This makes our designed robot good at violin playing. This paper presents basic violin playing technique, 3D modeling using Solidworks software, PID control system of servo motor using MATLAB/SimMechanics tool, and physical system of servo motor.
ISBN:331931291X
9783319312910
ISSN:2194-5357
2194-5365
DOI:10.1007/978-3-319-31293-4_20