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Proceedings Paper

Industrial dual arm robot manipulator for precise assembly of mechanical parts
Author(s): Chanhun Park; Doohyung Kim; Kyoungtaik Park; Youngjin Choi
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Paper 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.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942A (9 January 2008); doi: 10.1117/12.784482
Show Author Affiliations
Chanhun Park, Korea Institute of Machinery and Materials (South Korea)
Doohyung Kim, Korea Institute of Machinery and Materials (South Korea)
Kyoungtaik Park, Korea Institute of Machinery and Materials (South Korea)
Youngjin Choi, Hanyang Univ. at Ansan (South Korea)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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