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

页码：241 / 243

页数：3

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