| Title |
A Study on a Trajectory of Mast Arm End-Effector |
| Authors |
Jin-Soo Moon ; Cheul-U Kim |
| Keywords |
Robot Master ; Kinematic of master arm ; Trajectory ; End-effector |
| Abstract |
As people’s living standard is being improved, human works are being replaced by robots. However, because most robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree?of?freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end?effector. |