Design and control of dual arm robot manipulator for precision assembly

Author

Park, ChanHun ; Son, YoungDong ; Kim, DooHyung ; Park, KyoungTaik ; Shin, YoonSung ; HeeSeok Ann

Author_Institution

Intelligent & Precision Machinery Res. Div., Daejeon

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

1140

Lastpage

1143

Abstract

A new structure of dual arm robot manipulator which consists of a couple of single industrial 6 DOF arms and a 2 DOF Torso is introduced. Each single industrial 6 DOF arm is able to be used as a stand-alone industrial 6 DOF robot manipulator and as a part of a dual arm manipulator at the same time. These structures help the robot maker which aims at success in the emerging dual arm robot markets be able to have good competitive power for the existing industrial robot markets at same time. The structure of developed PC-based controller with window XP and real time OS (RTX), and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller is introduced.

Keywords

industrial manipulators; manipulator kinematics; robotic assembly; 2 DOF torso; dual arm robot manipulator; industrial 6 DOF arms; kinematics algorithms; precision assembly; Arm; Automatic control; Control systems; Defense industry; Intelligent robots; Manipulators; Robot kinematics; Robotic assembly; Service robots; Torso; Dual Arm Robot; Real time control; cooperative control; kinematics structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4407073

Filename

4407073