Mechanism Design of Exoskeletal Master Device for Dual Arm Robot Teaching

被引：0
|
作者：
Lee, Chang-Hyuk [2 ]
Choi, Jiwon [2 ]
Lee, Hooman [3 ]
Kim, Joongbae [3 ]
Bang, Young-bong [1 ]
机构：
[1] Seoul Natl Univ, Adv Inst Convergence Technol, Suwon 443720, South Korea
[2] Seoul Natl Univ, Grad Sch Convergence Sci & Technol, Suwon 443720, South Korea
[3] Elect & Telecommun Res Inst, Dept Robot Cognit Syst Res, Daejeon 305700, South Korea
来源：
2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) | 2014年
关键词：
master device; motion teaching; dual arm robot; exoskeleton; prismatic joint;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, and a cross roller bearing for each revolute joint, the master device can precisely measure the wearer's motions while at the same time feeling comfortable.
引用
收藏
页码：241 / 243
页数：3
相关论文
共 50 条
  • [21] Remaining Force Transferring Mechanism for Exoskeletal Robot to Operate Wheelchair
    Ieki, Yuta
    Yonezawa, Keishi
    Itami, Taku
    Kato, Norihiko
    Yano, Ken'ichi
    Kobayashi, Yasuyuki
    2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), 2016, : 1092 - 1097
  • [22] Design of an Industrial Dual Arm Robot Manipulator for a Human-Robot Hybrid Manufacturing
    Park, Chanhun
    Kyung, Jin Ho
    Choi, Tae-Yong
    Do, Hyun Min
    Kim, Byung-In
    Lee, Sung-Hui
    2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), 2012, : 616 - 618
  • [23] Teaching by Demonstration on Dual-arm Robot using Variable Stiffness Transferring
    Yang, Chenguang
    Liang, Peidong
    Li, Zhijun
    Ajoudani, Arash
    Su, Chun-Yi
    Bicchi, Antonio
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1202 - 1208
  • [24] Design and Implementation of Dual-Arm Robot with Homogeneous Compliant Joint
    Huang, Yuancan
    Li, Shuai
    Li, Siqi
    Ke, Yin
    2017 NINTH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC 2017), VOL 2, 2017, : 265 - 270
  • [25] Design of a novel dual-arm inspection robot with flexible cable
    Fang, Lijin
    Wei, Yongle
    Tao, Guanghong
    Jiqiren/Robot, 2013, 35 (03): : 319 - 325
  • [26] Dual-arm Robot Design and Testing for Harvesting Tomato in Greenhouse
    Zhao, Yuanshen
    Gong, Liang
    Liu, Chengliang
    Huang, Yixiang
    IFAC PAPERSONLINE, 2016, 49 (16): : 161 - 165
  • [27] Design and Kinematics Analysis of Dual Arm Robot Manipulator for Precision Assembly
    Park, Chanhun
    Park, Kyoungtaik
    2008 6TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS, VOLS 1-3, 2008, : 401 - 406
  • [28] Dual-arm Robot Modular Joint Design and Error Analysis
    Fang, Lilong
    Luo, Minzhou
    Chen, Jian
    Wang, Pengcheng
    2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), 2014, : 1300 - 1305
  • [29] Human motion analysis for the dual arm robot design in the manufacturing cell
    Park, Dong Il
    Park, Chanhun
    Kyung, Jinho
    Park, Kyoung Taik
    Lee, Sunggul
    Kim, Doohyung
    2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), 2012, : 565 - 566
  • [30] Design and Control of Dual-arm Robot for Cell Manufacturing Process
    Do, Hyun Min
    Park, Chanhun
    Choi, Tae Yong
    Kyung, Jin Ho
    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2013, : 1419 - 1423
12345