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.


modular manipulator; physical architecture; control architecture

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Published : 2020-12-20

Kurnicki, A., & Stańczyk, B. (2020). DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 10(4), 33-37.

Adam Kurnicki
Lublin University of Technology, Automation and Metrology Department  Poland
Bartłomiej Stańczyk 
Accrea Engineering, Lublin, Poland  Poland