DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS-Reference-Cited by-同舟云学术

DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS

Published:2020-12-20 Issue:4 Volume:10 Page:33-37
ISSN:2391-6761
Container-title:Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska
language:
Short-container-title:IAPGOS

Author:

Kurnicki Adam^ORCID,Stańczyk Bartłomiej^ORCID

Abstract

The article focuses on the design and implementation of mechanics, electronics and control system for a light-weight, modular, robotic manipulator for performing activities that require robot-human interaction in selected medicine-related applications. At the beginning, the functional requirements and physical architecture of such manipulator are discussed. The structure and control systems of the essential manipulator components/joint modules are presented in detail. Next, we introduce the software architecture of the master controller. Finally, examples of the current implementations of the modular manipulator are given.

Publisher

Politechnika Lubelska

Subject

General Earth and Planetary Sciences,General Engineering,General Environmental Science

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