Design and implementation of a dual-arm robot control system with multi-sensor integrating capability

I. H. Suh, W. K. Hyun, T. W. Kim, H. J. Yeo, S. R. Oh, Y. S. Oh, J. O. Kim, S. J. Yoon

Research output: Contribution to conferencePaper

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Abstract

An intelligent robotic system was developed for effectively controlling dual robot arms. The control system aids collision avoidance and coordination of the dual arms. The system has a multisensor integration capability. It responds to environmental sensors such as a vision sensor, a force sensor and a position encoder. The control system permits the human operator to communicate with the system via a teach box, a high-level language with a screen editor and menu-driven operational commands, which were specially designed for multiarm control. The control system was applied successfully to the assembly system using two SCARA type robot arms.

Original languageEnglish
Pages898-903
Number of pages6
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

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Suh, I. H., Hyun, W. K., Kim, T. W., Yeo, H. J., Oh, S. R., Oh, Y. S., ... Yoon, S. J. (1991). Design and implementation of a dual-arm robot control system with multi-sensor integrating capability. 898-903. Paper presented at Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .