@article{Kurnicki_Stańczyk_2020, title={DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS}, volume={10}, url={https://ph.pollub.pl/index.php/iapgos/article/view/2066}, DOI={10.35784/iapgos.2066}, abstractNote={<p>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.</p>}, number={4}, journal={Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska}, author={Kurnicki, Adam and Stańczyk, Bartłomiej}, year={2020}, month={Dec.}, pages={33–37} }