Design and implementation of a dual-arm robot control system with multi-sensor integrating capability

Author

Suh, I.H. ; Hyun, W.K. ; Kim, T.W. ; Yeo, H.J. ; Oh, S.R. ; Oh, Y.S. ; Kim, J.-O. ; Yoon, S.J.

Author_Institution

Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

898

Abstract

An intelligent robotic system was developed for effectively controlling dual robot arms. The control system aids collision avoidance and coordination of the dual arms. The system has a multi-sensor integration capability. It responds to environmental sensors such as a vision sensor, a force sensor and a position encoder. The control system permits the human operator to communicate with the system via a teach box, a high-level language with a screen editor and menu-driven operational commands, which were specially designed for multiarm control. The control system was applied successfully to the assembly system using two SCARA type robot arms

Keywords

control systems; knowledge based systems; position control; robots; user interfaces; IKBS; SCARA type robot arms; assembly system; collision avoidance; coordination; dual-arm robot control system; environmental sensors; force sensor; intelligent robotic system; menu-driven operational commands; multi-sensor integrating capability; position encoder; screen editor; teach box; user interfaces; vision sensor; Arm; Collision avoidance; Control systems; Intelligent robots; Intelligent sensors; Intelligent systems; Manipulators; Robot control; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239171

Filename

239171