Open AccessDevelopment of redundant shoulder complex of human‐like robot driven by flexible wire tendons
Author(s) -
Choi Taeyong,
Lee JoonWoo,
Kim Doohyung,
Do Hyunmin,
Park Dongil,
Park Chanhun
Publication year - 2014
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2014.0962
Subject(s) - robot , robotics , degrees of freedom (physics and chemistry) , redundancy (engineering) , dual (grammatical number) , artificial intelligence , engineering , control engineering , arm solution , robot control , computer science , control theory (sociology) , simulation , computer vision , control (management) , mobile robot , physics , art , literature , quantum mechanics , reliability engineering
For dual‐arm robot systems, which continue to become more common in the field of industrial robotics, a redundant shoulder complex could be very important to new developments. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. A novel redundant shoulder complex for a human‐like robot that is driven by flexible wire tendons against spatial constraints is proposed. The kinematically redundant shoulder complex allows the human‐like robot to generate more natural motions because of the availability of redundant degrees of freedom (DOFs), i.e. six DOFs per side. To control the proposed shoulder complex, a hybrid control scheme is used; the positioning precision was considered, and the ability of the shoulder complex to perform several human‐like motions was verified.