The Development of The Robot Manipulator for an Intelligent Service Robot

摘要

The manipulator, much higher intelligence and technology for realizing environment are required to carry objects in case the intelligent service robot assists or substitutes human works. The manipulator of them executes works gripping or carrying object at any position in various environments. The manipulator of household service robot should be able to accomplish the task carrying small thing, a glass and stationery. And human-friendly design reducing a possibility of danger is required to execute orders and reduce an unpleasant feeling. Therefore, the robot manipulator making use of human-friendly design and implementing human's arm motions is presented in this paper. And the design process for each joint of the manipulator is introduced. Also the manipulator executes tasks carrying object at any position, which is verified in this paper