Analysis of Human Arm Motions at Assembly Work as a Basic of Designing Dual Robot Arm System

Kristyanto, Bernadus and Nugraha, Brilianta Budi and Pamosoaji, Anugrah Kusumo and Nugroho, Kristanto Agung (2017) Analysis of Human Arm Motions at Assembly Work as a Basic of Designing Dual Robot Arm System. In: 2017 IEEE International Conference on Industrial Engineering and Engineering Management, December 10-13, 2017, Singapore.

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Abstract

An analysis of human arm motions has been studied as a preliminary result prior to the design of an artificial shoulder-attached double-arm robot to imitate human arms’ motions. For modeling the dual arm robot, a DH-parameter’s based forward- kinematics of the arms are analyzed. Since in the real world human hands hold various types of objects with distinct weights and volumes, we take into account unpredictably center of mass of the entire arms as uncertainty. For this purpose, the model to follow must be based on human’s behavior. Therefore, human anthropomorphic is required to be applied for determining the robot’s parameters. In addition, human motion limitations must be considered as the limitation of the robot’s motions as well. Simulations of the results are presented to verify the performance of the model and will be used as model for adaptive controller design.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Human arms motions, human anthropomorphic, artificial dual arm robot, Denavit-Hartenberg paradigm, forward kinematics.
Subjects: Teknik Industri > Sistem Manufacturing
Divisions: Fakultas Teknologi Industri > Teknik Industri
Depositing User: Editor UAJY
Date Deposited: 08 Jul 2020 03:30
Last Modified: 08 Jul 2020 03:30
URI: http://e-journal.uajy.ac.id/id/eprint/21812

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