조명전기설비학회논문지 (Journal of the Korean Institute of Illuminating and Electrical Installation Engineers)

  • 제22권7호
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  • Pages.1-6
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  • 2008
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  • 1229-4691(pISSN)
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  • 2287-5034(eISSN)
한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
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A Study of Trajectory Simulation of Master Arm

  • Moon, Jin-Soo (Department of Robot Engineering, Busan Human Resources Development Institute)
  • 발행 : 2008.07.31
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초록

In industrial fields, human works are being replaced by robots. However, as the use of robots is limited in the process industry where they are operated fixedly, humanoid robots with wide applications need to be developed. Currently a great deal of research is being conducted on humanoid robots with the object of replacing humans in the workplace. However, because of the lack of relevant hardware and difficulty in mechanical parts, only very simple and limited progress is being made. In an effort to overcome these limitations, the purpose of the present study is to develop a kinematical mechanism and a controller. To this end, master arms with 3 degrees-of-freedom for the shoulders and the arms were composed which were able to reproduce human-like motions by simulating the characteristics of joint variables and the trajectory of the end-effector.

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참고문헌

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