Title :
R&D of 4 DOF dual-arm cooperative robot-cooperation of location (position orientation) and motion
Author :
Yumei, Huang ; Feng, Gao ; Zhongbo, Peng ; Yan, Li ; Bamba, Eiichi ; Yamamoto, Masahiko ; Kume, Yasufumi
Author_Institution :
Xi´´an Univ. of Technol., China
Abstract :
Proposes a type of dual-arm robot taking linking spindle, nut and cutter shank of a machine tool as an example. The task is achieved by making most use of the motion function of the operating objects and cooperative motion between the two arms of the robot and the operating object. It can be divided into 4 DOF, 3 DOF or 2 DOF robots based on the different motion functions of the operating objects
Keywords :
manipulators; matrix algebra; motion control; 2 DOF robot; 3 DOF robot; 4 DOF dual-arm cooperative robot; cutter shank; linking spindle; motion function; nut; operating objects; Electromechanical devices; End effectors; Fasteners; Humans; Joining processes; Machine tools; Manipulators; Motion analysis; Research and development; Robot kinematics;
Conference_Titel :
Robot and Human Interactive Communication, 2000. RO-MAN 2000. Proceedings. 9th IEEE International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-6273-X
DOI :
10.1109/ROMAN.2000.892640
