• Title/Summary/Keyword: Precision Arm

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Development of S/W Framework for the Industrial Dual-arm Robot (산업용 양팔로봇 제어 S/W 프레임 개발)

  • Choi, Taeyong;Do, Hyun Min;Park, Dong Il;Park, Chanhun;Kim, Doohyung;Park, Kyung-Taik
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.9
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    • pp.887-891
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    • 2013

  • Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The dual-arm robot can work instead of human workers. We developed the new dual-arm robot for manufacturing mobile phone and TV. It has advantages such as the solo controller for both arms, the human sized body and arms. The software platform for the industrial dual-arm robot is being developed which has strength in its convenience and intelligence compared to conventional the robot software platforms. Here the development of the dual-arm robot software platform is introduced.

  • https://doi.org/10.7736/KSPE.2013.30.9.887 인용 PDF KSCI

Dynamic Characteristics and Control of Two-Link Arm with Free Joint (자유관절을 가진 2링크 암의 동특성과 제어)

  • 유기호
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.1
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    • pp.216-223
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    • 2000

  • A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

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