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

Adam Kurnicki; Bartłomiej Stańczyk

doi:10.35784/iapgos.2066

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Published: 2020-12-20

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

Issue Vol. 10 No. 4 (2020)

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

Adam Kurnicki

a.kurnicki@pollub.pl

Lublin University of Technology, Automation and Metrology Department

https://orcid.org/0000-0002-4988-7322 (unauthenticated)

Bartłomiej Stańczyk

b.stanczyk@accrea.com

Accrea Engineering, Lublin, Poland

https://orcid.org/0000-0002-2319-7358 (unauthenticated)

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

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DEVELOPMENT OF A MODULAR LIGHT-WEIGHT MANIPULATOR FOR HUMAN-ROBOT INTERACTION IN MEDICAL APPLICATIONS. (2020). Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 10(4), 33-37. https://doi.org/10.35784/iapgos.2066

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

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