Industrial dual arm robot manipulator for precise assembly of mechanical parts

Chanhun Park; Doohyung Kim; Kyoungtaik Park; Youngjin Choi

doi:10.1117/12.784482

9 January 2008 Industrial dual arm robot manipulator for precise assembly of mechanical parts

Chanhun Park, Doohyung Kim, Kyoungtaik Park, Youngjin Choi

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942A (2008) https://doi.org/10.1117/12.784482
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is introduced. Each industrial 6-DOF arm is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the emerging dual arm robot market in order to have high competition for the current industrial robot market at same time. Self-collision detection algorithm for multi-arm robot and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller are introduced.

Citation Download Citation

Chanhun Park, Doohyung Kim, Kyoungtaik Park, and Youngjin Choi "Industrial dual arm robot manipulator for precise assembly of mechanical parts", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942A (9 January 2008); https://doi.org/10.1117/12.784482

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