Browse > Article
http://dx.doi.org/10.5207/JIEIE.2006.20.9.024

On a Posture Control of Human Robot Master Arm  

Moon, Jin-Soo (Department of Electrical Engineering, Pusan National UniV.)
Kim, Cheul-U (Pusan National University)
Publication Information
Journal of the Korean Institute of Illuminating and Electrical Installation Engineers / v.20, no.9, 2006 , pp. 24-31 More about this Journal
Abstract
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.
Keywords
Mast arm; Actuator; DC servo motor; DC servo amp; Human robot;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 B. J. Ch, 'A Study on a Control of 3D Animation for Adaptive Control' Ministry of Informtion and Communication republic of Korea, 1999
2 J. W. Lee, Y. S. Kim, S. Y. Lee and M. S. Kim, 'Kinematic Design and Analysis of Masterarm with Distributed Controller Architecture', Jounal of Control, Automation and System Engineering, Vol.7, No.6, pp.53 2-359, 2001. 6
3 Jean Vertut and Philippe Coiffet, Teleoperation and Robotics: Applications and Technology, Kogan Page, 1985
4 Mark W. Spong, M. Vidyasagar, 'Robot Dynamics and Control' Jehn wily & sons, Inc. 1989
5 M. Bergamasco, et al, 'An arm exoskeleton system for teleoperation and virtual enviroments applications', Proceedings of the 1994 IEEE ICRA, 1994
6 T. B. Sheridan, Telerobotics, Automation, and Human Supervisory Control, The MT Press, Cambridge, MA 1992
7 J. S. Moon and C. U. Kim, 'A study on Development of Actuator for Biped Walking Robot', Journal of The Korean Institute of Illuminating and Electrical Installation Engineers Vol. 19, No.7, pp.73-80, November 2005   과학기술학회마을   DOI   ScienceOn
8 S. B. Dewan, A. Stranghen, 'Power semiconductor circuits,' John wily & sons, Inc. 1975
9 P. C. Sen 'Thyristor D. C. Drive', John willey & Sons Inc. pp.222-239, 1980