Analysis of Kinematic Mapping Between an Exoskeleton Master Robot and a Human Like Slave Robot With Two Arms
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1 l of Kemtc Mg etwee Eokeleto Mter Robot um Lke lve Robot Wth Two rm Deok ee og* Woo Ku Lee** eul Jug*** * Dertmet of Mechtroc Egeerg hugm Ntol Uvert Dejeo Kore Tel : ; E-ml: {*hu@hoo.co.kr**eeuce@hml.et ***jug@cu.c.kr} btrct: Th er reet the kemtc l of two robot eokeleto te mter robot hum lke lve robot wth two rm. Two robot re ege bult to be equvlet moto followg robot. The oertor wer the eokeleto robot to geerte moto the the lve robot requre to follow fter the moto of the mter robot. owever fferet kemtc cofgurto el oto mmtche of the e-effector. To chroe moto of two robot kemtc l of mg le. The forwr vere kemtc hve bee multe the correog eermet re lo coucte to cofrm the rooe mg l. Kewor: Moto followg robot eokeleto robot hum lke robot wth two rm. INTRODUTION Recetl tercto betwee robot hum h bee eormoul cree vret of te the techolog of ervce robot re eveloe further -. There re m rereetg te of tercto betwee robot hum oertor. Robot et re goo terctve emle of echgg emoto. Oe mle tercto wth robot tele-oerte cotrol -7. Ug jotck oertor c cotrol the movemet of the lve robot wth vul feebck of movemet. hum oertor cotrol remotel locte robot. ere oe bc requremet of the lve robot the ccurte moto followg fter the mter. Th requre ccurte mg. For moto followg tk the lve robot requre to follow fter the movemet of the mter robot ectl. The oertor wer the eokeleto robot to geerte moto the the lve robot requre to follow the moto fter the moto of the mter robot. To chroe moto of two robot oto cotrol b kemtc l of mg requre ce two robot re ege lghtl fferet cofgurto. The eokeleto robot ot ctute b motor o tht t h more fleble tructure eg. owever the two rm robot ctull ctute b motor comme from the eokeleto b wrele commucto. It h to llow houg for motor. o there lghtl fferet cofgurto betwee two robot. Th fferet kemtc cofgurto le to chroou movemet the rte coorte. To chroe movemet kemtc l requre to comete for mmtche rmeter. I th er kemtc l of two robot reete comre. Forwr kemtc vere kemtc re fou. Movemet of the eokeleto mter robot cture b ecoer. Thoe ecoer t re coverte to jot gle vlue thoe vlue re ue to clculte e-effector oto. Thoe e-effector oto re ue to clculte vere kemtc oluto of the lve robot to geerte ere jot vlue. The the cotroller of the lve robot ctute move the rm. Ecoer vlue of the lve robot re lo ue for clcultg oto of the e-effector through forwr kemtc. Two e-effector oto vlue re comre. Th cofrm the chroou kemtc mg. I th frmework to o tht vere kemtc oluto of the lve robot re fou. multo tue re coucte to cofrm tht kemtc l correct. Eermet re lo coucte to cofrm the feblt of the l. Fg. ocet of moto followg robot. OVERLL TRUTURE. The eokeleto mter robot Fg. how the eokeleto mter robot. It h the totl.o.f. It ege for the hum oertor to wer to move rm. Movemet re cture b jot ecoer. Fg. Moto cture eokeleto mter robot.
2 . The hum lke lve robot The lve robot h two rm how Fg.. Fg. The lve robot wth two rm The lve robot lo h.o.f. Ech jot of the lve robot ctute.. KINEMTI NLYI. Forwr kemtc Fg. Fg. how the coorte trform of the mter robot the lve robot reectvel 8. Fg.. oorte rereetto of the eokeleto mter robot. Fg. oorte rereetto of the lve robot Tble lt D- rmeter for the mter robot Tble. D- rmeter & Jot rge of the mter robot From D- rmeter trformto mtrce re obte. c co. Tble how the D- rmeter of the lve robot. Tble. D- rmeter & Jot rge of the lve robot Jot α Jot rge egree -9 - to to to to to -9 to 9
3 Jot α Jot rge egree 9 9 to to to to 9 9 to -9 to 9 We ee from two tble tht cofgurto of Jot to jot re fferet the ret of jot cofgurto re me. Th fferet cofgurto cue fferet movemet the e-effector oto. The gol to lg the movemet of two robot. The correog trformto mtrce re how. The e-effector oto c be obte from the followg mtr. T. Ivere kemtc Ivere kemtc of the mter robot From Fg. P gve T. oluto of re le two ce of eeg uo the vlue of. The correog reult re follow: t D E 7 t 8 t F F F F 9 t F E D. oluto for re gve t J I t L K t N M N M L K J I Ivere kemtc of the lve robot T T.
4 co φ ϕ β α R R ϕ ϕ. IMULTION TUDIE To cofrm the kemtc l reete the revou ecto multo of the lve robot re coucte. ere for gve jot gle vlue the e-effector oto obte b the forwr kemtc. the vere kemtc olve oluto for jot gle g. Thee jot gle re ue to clculte the e-effector oto ther vlue re comre. Fg.7 how the movemet of ech jot of the lve robot. We ee tht e-effector oto re ectl mtche for two clculto. ϕ ϕ Fg. oluto for jot of the lve robot m r ϕ t r ϕ t r b c ϕ t 7 R r R c. c b R c Therefore re clculte π / ϕ 8 π / ϕ 9 π / ϕ The remg three jot re lo obte t co π t co t co co co Jot b Jot c Jot
5 Fg.8 how the movemet of ll of the jot of the lve robot. We ee tht the e-effector oto ectl mtche. Th multo cofrm tht the kemtc l of the lve robot correct. multo for the mter robot oe ot er here ce t h bee lre reete our revou reerch 8.. MPPIN ETWEEN TWO ROOT Jot Jot Jot Fg 7. multo reult of vere kemtc of the lve robot. Kemtc mg Tble how the D- rmeter of two robot. We clerl ee tht jot through jot re fferet from two robot. Dfferet rottg frme el fferet D- rmeter well fferet legth of the rm. Tble. omro of D- rmeter of two robot Eokeletom Robot multor m Lk ce the workce of the lve robot lghtl mller th tht of the mter robot we houl f the fctor tht cle the movemet the rte ce. We hve followe the et roceure:. Frt the two be coorte re lge together b movg of the mter robot b the legth of. eco the rto of the lk legth fou. We hve fou vlue of clg fctor..87. for ech. Thee vlue re obte b comrg ech lk legth. Thee fctor re multle to the rte oto of the eokeleto robot fter obtg the trformto mtr T.. Eermet. Wthout mg Fg 8. Movemet of ll jot E-effector oto of two robot
6 btrct.. ONLUION Th er reete kemtc mg betwee two robot: the mter the lve. Two robot hve fferet cofgurto ue to the ffcult of mlemetto to rereet the me oto. Th roblem h bee olve b olvg vere kemtc oluto of the lve robot b fg the clg fctor of coorte trform. Eve though the clg fctor w fou to be cott th ce mg error re mll wth ccetble rge. I the future ucceve movemet of two robot wll be tete. b Potol mmtchg error Fg 9 Eermet : Wthout mg. Eermet : wth clg fctor Fg how the movemet of two robot. Ecoer t from the mter robot re obte frt. Thee t re ue to clculte the e-effector oto of the mter robot. The cle t ow b the fctor. Thee cle ow vlue re ue to clculte jot vlue of the lve robot b the vere kemtc. The the e-effector oto of the lve robot clculte lotte Fg.. E-effector oto of two robot KNOWLEDMENT Th reerch h bee uorte b the cotrct of KOEF/KRF Kore.. REFERENE okho hg Jugte Km J w orm hogwo Lee Jog Ok Prk Kt teleoerto tem for humo robot IEEE/RJ of. o Itellget Robot tem vol. Ⅱ M. O T.Do K. Wkt Tele-multo of tellte moute robot b o-grou trout IEEE of. o Robotc utomto J. Fu R.. Tlor. omor K.. rube otre cte moto cotrol for teleoerte urgcl robot IEEE tr. o Robotc utomto vol T. Mor K. Tujok T. to "um-lke cto Recogto tem o Whole o Moto-cture Fle" IEEE of. o Itertol oferece o Itellget Robot tem. -7 w U.. Jug P. W. Jeo. T. ho "Iterfce etwee Robot um: lcto to og Robot" Itertol Feerto of utomtc otrol. P. W. Jeo P.. Jg. K. Ju K.. ho. Jug Develomet of bog robot tem for mechtroc eucto Kore utomtc otrol oferece kore. 7 K.. Fu R.. ole... Lee "ROOTI : otrol eg Vo Itellgece" Mcrw-ll 987.T.. Lk. Rv eor be th Plg Moto otrol for Robotc tem for Row rck Trckg. 9- IEEE Tr. O otrol tem Techolog col. 8 No. 8 Poog Woo Jeo & eul Jug Teleoerte otrol of Moble Robot Ug Eokeleto Te Moto turg Devce Through Wrele ommucto IEEE/ME vce Itellget Mechtroc. 7- b Potol mmtchg error Fg. Eermet :wth mg Defe bbrevto crom the frt tme the re ue the tet eve fter the hve bee efe the
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