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

  • 제20권9호
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  • Pages.24-31
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  • 2006
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  • 1229-4691(pISSN)
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  • 2287-5034(eISSN)
한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
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On a Posture Control of Human Robot Master Arm

  • 발행 : 2006.11.30
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초록

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

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참고문헌

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