DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS

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Published: Dec 20, 2020
DOI: https://doi.org/10.35784/iapgos.2066
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DOI

https://doi.org/10.35784/iapgos.2066

Authors

Adam Kurnicki

a.kurnicki@pollub.pl

Lublin University of Technology, Automation and Metrology Department, Poland
https://orcid.org/0000-0002-4988-7322
Bartłomiej Stańczyk

b.stanczyk@accrea.com

Accrea Engineering, Lublin, Poland, Poland
https://orcid.org/0000-0002-2319-7358

Abstract

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.

Keywords:

modular manipulator, physical architecture, control architecture

References

Article Details

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. https://doi.org/10.35784/iapgos.2066