A Collaboration Robot Arm Platform based on Integration Joints for Manufacturing and Medical

An aluminum-links collaboration manipulator based on the Kollmorgen RGM joint and embedded control system is presented in this paper. Because of its low inertia and reduction ratio, this manipulator can be used for human-robot collaboration. The purpose is solving the problem of human security and the operability in human-robot collaboration environment. CANopen bus is used and obtains a steady control period up to 2.5ms. As for motion planning layers, a PC platform using Robot Operating System(ROS) send trajectory points to our manipulator controller. Finally, the motion interpolation and trajectory closed-loop control algorithm is designed, and a physical trajectory tracking experiment of the Kollmorgen manipulator is done, and obtained trajectory error within 3 percent.