Journal of the Korean Institute of Illuminating and Electrical Installation Engineers (조명전기설비학회논문지)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
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A Study on a Trajectory of Mast Arm End-Effector

마스트 암 엔드-이펙터 궤적에 관한 연구

  • 문진수 (부산대학교 전기공학과) ;
  • 김철우 (부산대학교 공과대학 전자전기통신공학부)
  • Published : 2006.12.31
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Abstract

As people's living standard is being improved, human works are being replaced by robots. However, because most robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree of freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end effector.

생활수준이 향상 될수록 로봇이 인간의 노동을 대신하는 요소는 더욱 많아지고 있다. 하지만 대부분의 로봇이 지면에 고정된 장치산업에 국한되어 있기 때문에, 폭넓은 응용가치가 기대되는 휴먼 로봇에 대한 필요성이 강조되고 있다. 휴먼로봇은 사람을 대신하기 위한 목적으로 많은 연구가 진행되고 있지만, 관련 하드웨어의 부족으로 매우 단순하고 제한적으로 적용되고 있다. 이러한 한계를 극복하기 위해 본 연구에서는 기구학적인 메커니즘과 제어장치를 개발하여, 어깨와 팔을 3자유도 형태로 마스트 암을 구성하고, 관절변수의 특성과 엔드-이펙터 궤적실험을 통하여 사람과 유사한 동작을 재현하였다.

Keywords

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