휴먼 서비스 로봇을 위한 리던던트 로봇 매니퓰레이터 개발에 관한 연구

Abstract

The purpose of this paper is to develop the human service robot arm that attaches a mobile robot. Because the human service robot has to approach more closely to a human, the robot that has joint structure and motion similar to human has advantage as the human service robot. This research proposes design process and whole design flow these are required to develop the 7 DOF redundant robot arm manipulator and proposes methodology for design Parameter. Also, for minimization and light weight, gripper mechanism is proposed. Finally, the process of the development is verified with experiments of the detecting object, movement of the mobile and gripping motion of the robot arm.