Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference (한국조명전기설비학회:학술대회논문집)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
권호 표지

A Virtual Simulation and Real Trajectory of 3-DOF Arm Robot

3자유도 암 로봇의 가상시뮬레이션과 실체궤적

  • Moon, Jin-Soo (Dept. of Electrical Engineering, Pusan National Univ.) ;
  • Kim, Cheul-U (Dept. of Electrical Engineering, Pusan National Univ.)
  • 문진수 (부산대 대학원 전기공학과) ;
  • 김철우 (부산대 대학원 전기공학과)
  • Published : 2007.05.10
Download PDF
⟨ Previous Next ⟩

Abstract

This study developed a human robot master arm, which has a structure similar to the human arm, with the object 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 master arm in order to test its interlocking, continuous notions and reliability.

Keywords