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Industrial dual arm robot manipulator for precision assembly of mechanical parts
- Issue Date
- Jan-2008
- Publisher
- SPIE-INT SOC OPTICAL ENGINEERING
- Keywords
- dual arm robot; self-collision; cooperation; mass center; assembly
- Citation
- ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2, v.6794, pp 1 - 6
- Pages
- 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2
- Volume
- 6794
- Start Page
- 1
- End Page
- 6
- ISSN
- 0277-786X
1996-756X
- Abstract
- A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is introduced. Each industrial 6-DOF arrn is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the emerging dual arm robot market in order to have high competition for the current industrial robot market at same time. Self-collision detection algorithm for multi-arm robot and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller are introduced.
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Related Researcher
- Choi, Youngjin
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)