Collaborative Robot

-Research Background

• • Various tasks for service to humans are required for collaborative robot.

  • A multi-DOF manipulator is needed for dexterous manipulation.

- Research Objectives

• • Development of a multi-DOF collaborative robot

  • Compact and lightweight design

- Simulation and design of collaborative robot

• • Dynamic simulation: torque and moment load of each joint

  • Manipulability analysis: operation angle of each joint

  • FEM analysis: lightweight structure

- Research Output

- Features for KUDex series

* Collision Detection & Reaction

• • Highly sensitive collision detection using JTS   

  • Collision detection with payload and during tasks

* Easy Teaching

• •    Graphical programming (icon-based)  

  •    Direct teaching (no programming required)

  * JTS-based Force Control

• •    Estimation of external force/torque acting on the end-effector (FTS emulation)

  •    Impedance control/Admittance control

  * Lightweight & Modular Design

- Demonstration

* Collision Detection & Reaction

Sensitive collision detection

Sensitive collision detection - tofu

Sensitive collision detection - egg

Collision detection during hand guiding

Collision detection during transport operations

*Easy teaching

Hand guiding in joint space

Hand guiding in task space

Hand guiding and playback

Zero gravity motion

*Impedance control / Force control

Impedance control in joint space

Impedance control in task space

Force control and collition detection

Sophisticated force control

Palletization

Force estimation