Development of the Easy Teaching System for the Industrial Dual Arm Robot(AUTOMAN)

산업용 듀얼 암 로봇(AUTOMAN)의 교시기술 개발

  • Park, Chan-Hun (Department of Robotics & Intelligent Machinery, Korea Institute of Machinery and Materials) ;
  • Park, Kyoung-Taik (Department of Robotics & Intelligent Machinery, Korea Institute of Machinery and Materials) ;
  • Gweon, Dae-Gab (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 박찬훈 (한국기계연구원 로봇/지능기계연구실) ;
  • 박경택 (한국기계연구원 로봇/지능기계연구실) ;
  • 권대갑 (한국과학기술원 기계공학과)
  • Published : 2009.09.01

Abstract

Keywords

References

  1. Tsumugiwa, T., Yokogawa, R. and Hara, K., 'Variable impedance control based on estimation of human arm stiffness for human-robot cooperativecalligraphic task,' Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 1, pp. 644-650, 2002
  2. Tsumugiwa, T., Yokowawa, R. and Hara, K.,'Variable impedance control with virtual stiffness for human-robot cooperative task (human-robot Cooperative peg-in-hole task),' Proc. 41st SICE Annual Conference, Vol. 4, pp. 2329-2334, 2002 https://doi.org/10.1109/SICE.2002.1195769
  3. Tsumugiwa, T., Sakamoto, A., Yokowawa, R. and Hara, K., 'Switching control of position/torque control for human-robot cooperative task - humanrobot cooperative carrying and peg-in-hole Task,' Proc. IEEE Int. Conf. on Robotics and Automation,Vol. 2, pp. 1933-1939, 2003
  4. Rahaman, M., Ikeura, R. and Mizutani, K., 'Investigation of the impedance characteristic of human arm for development of robots to cooperate with humans,' JSME Int. Journal Series C, Mechanical Systems, Machine Elements and Manufacturing, Vol. 45, No. 2, pp. 510-518, 2002 https://doi.org/10.1299/jsmec.45.510
  5. Cetin, A. E. and Adli, M. A., 'Cooperative control of a human and a robot manipulator for positioning a cart on a frictionless plane,' Mechatronics,Vol. 16,No. 8, pp. 461-469, 2006 https://doi.org/10.1016/j.mechatronics.2006.03.010
  6. Park, C. H. and Park, K. T., 'Design and Kinematics Analysis of Dual Arm Robot Manipulator for Precision Assembly,' 6th IEEE Int. Conf. on Industrial Infomatics, pp. 430-435, 2009
  7. Park, C. H. and Park, K. T., 'Design and Control of Industrial Dual Arm Robot,' Journal of KoreanSociety for Precision Engineering, Vol. 25, No. 11, pp.58-65, 2008