Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference (한국조명전기설비학회:학술대회논문집)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
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A Study on a Virtual Simulation of Robot Trajectory

로봇궤적의 가상시뮬레이션에 관한 연구

  • Moon, Jin-Soo (Dept. of Electrical Engineering, Pusan National Univ.) ;
  • Kim, Cheul-U (Dept. of Electrical Engineering, Pusan National Univ.)
  • 문진수 (부산대 대학원 전기공학과) ;
  • 김철우 (부산대 대학원 전기공학과)
  • Published : 2007.05.10
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Abstract

As people's living standard is being improved, human works are being replaced by robots. However, because roost 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.

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