International Journal of Control, Automation, and Systems

  • 제5권6호
  • /
  • Pages.681-690
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  • 2007
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  • 1598-6446(pISSN)
  • /
  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Kinematics Analysis and Implementation of a Motion-Following Task for a Humanoid Slave Robot Controlled by an Exoskeleton Master Robot

  • Song, Deok-Hui (BK21 Mechatronics Group, Chungnam National University) ;
  • Lee, Woon-Kyu (BK21 Mechatronics Group, Chungnam National University) ;
  • Jung, Seul (BK21 Mechatronics Group, Chungnam National University)
  • 발행 : 2007.12.31
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초록

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

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참고문헌

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