Development of a collaborative robot - vietcobot

Abstract

In this paper, the development progress of a collaborative robot is presented in industrial fields: namely Vietcobot. The cobot actuator is designed as an integrated joint of hollow style which is a key part of the cobot development. The optimization of force/torque sensor on cross beam structure is studied to make a better dynamic performmence that can apply to the cobot effectively. This sensor makes the cobot sensitive to its surrounding, especially to human. This design produces a cobot which is lighter, mobility and easy to handle. The scheme of the integrated development environment is built to connect to a simulation environment via API and control the cobot in realtime via Twincat Ethereal communication interface for critical tasks of this field. The kinematics of the cobot is examination, and a neural network dynamic controller is simulated to show the effectiveness of the online estimation of unknown nonlinear dynamics. The cobot control- system is implemented which can interface to Industry 4.0 architecture in factory in the future applications.