Design and control of dual arm robot manipulator for precision assembly

摘要

A new structure of dual arm robot manipulator which consists of a couple of single industrial 6 DOF arms and a 2 DOF Torso is introduced. Each single industrial 6 DOF arm is able to be used as a stand-alone industrial 6 DOF robot manipulator and as a part of a dual arm manipulator at the same time. These structures help the robot maker which aims at success in the emerging dual arm robot markets be able to have good competitive power for the existing industrial robot markets at same time. The structure of developed PC-based controller with window XP and real time OS (RTX), and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller is introduced.