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


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

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

Adam Kurnicki  a.kurnicki@pollub.pl
Lublin University of Technology, Automation and Metrology Department  Poland
https://orcid.org/0000-0002-4988-7322
Bartłomiej Stańczyk 
Accrea Engineering, Lublin, Poland  Poland
https://orcid.org/0000-0002-2319-7358