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Design and Control of Industrial Dual Arm Robot  

Park, Chan-Hun (Intelligent Manufacturing Systems Research Division, Korea Institute of Machinery and Materials)
Park, Kyoung-Taik (Intelligent Manufacturing Systems Research Division, Korea Institute of Machinery and Materials)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.11, 2008 , pp. 58-65 More about this Journal
Abstract
The study on dual arm robot manipulator which consists of two 6-DOF srms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for automation of assembly process in automotive manufacturing line. Each industrial 6-DOF arm can be used as a stand-alone type of industrial robot manipulator with 6-DOF and as a manipulator part of dual arm robot at the same lime. These structures help the robot maker willing to succeed in emerging market of dual arm robots have the high competitive power for the current industrial robot market and the emerging market of dual arm robot at the same time. The research results of the design concept, workspace analysis and the PC-based controller will be introduced.
Keywords
Dual Arm Robot; Industrial Robot; Assembly Automation; Mechanical Parts; Real Time Control; Self Collision;
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