Control of an Industrial Dual-arm Robot in a Narrow Space where Human Workers are Familiar with

Taeyong Choi, Hyunmin Do, Donil Park, Jinho Kyungk

Abstract

The industrial dual-arm robot is being developed. The developed industrial dual-arm robot aim to work with human workers or to work instead of human workers. Redundancy by high degree of freedom caused by arm and waist make robot movement difficult in the narrow space for human workers. Robot arms would take unexpected posture without proper redundant control method. In particular elbows can cause hazard situation by colliding with the environment or body of robot. Here novel method to control robot elbows is introduced. It shows good performance without loss of the position precision of end-effectors. Also it does not require high computing power, which make it useful for practical robot control. The proposed method is confirmed by the simulation.

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Paper Citation


in Harvard Style

Choi T., Do H., Park D. and Kyungk J. (2019). Control of an Industrial Dual-arm Robot in a Narrow Space where Human Workers are Familiar with.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 339-344. DOI: 10.5220/0007918003390344


in Bibtex Style

@conference{icinco19,
author={Taeyong Choi and Hyunmin Do and Donil Park and Jinho Kyungk},
title={Control of an Industrial Dual-arm Robot in a Narrow Space where Human Workers are Familiar with},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={339-344},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918003390344},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Control of an Industrial Dual-arm Robot in a Narrow Space where Human Workers are Familiar with
SN - 978-989-758-380-3
AU - Choi T.
AU - Do H.
AU - Park D.
AU - Kyungk J.
PY - 2019
SP - 339
EP - 344
DO - 10.5220/0007918003390344