CAJ | 학술논문

针对商品化工业机器人手臂系统封闭、开放性差的问题，采用机器人可重构模块来构建机器人的双臂系统。在分析机器人手臂构成特点的基础上，进行了手臂模块的选型，完成了由模块化关节组成的服务机器人双臂硬件平台的搭建；通过分析手臂功能模块化的特点，设计了手臂的分布式控制系统方案，并通过实验验证了双臂软硬件系统构建的正确性及稳定性。
침대상품화공업궤기인수비계통봉폐、개방성차적문제，채용궤기인가중구모괴래구건궤기인적쌍비계통。재분석궤기인수비구성특점적기출상，진행료수비모괴적선형，완성료유모괴화관절조성적복무궤기인쌍비경건평태적탑건；통과분석수비공능모괴화적특점，설계료수비적분포식공제계통방안，병통과실험험증료쌍비연경건계통구건적정학성급은정성。
To the problem of industrial robot arms closed control system,robot reconfigurable modules were used to constitute robot arm system. Analyzing the features of robot arm structure,the module selection was completed and the dual-arm hardware plat-form was built. According to the modularization characteristics of the service robot dual-arm joints,the distributed control system was designed. The correction and stability of the robot dual-arms hardware and software system were proved by experiments.