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
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