Analysis of Kinematic Mapping Between an （分析运动之间的映射）.pdfVIP

ICCAS2005 June 2-5, KINTEX, Gyeonggi-Do, Korea Analysis of Kinematic Mapping Between an Exoskeleton Master Robot and a Human Like Slave Robot With Two Arms Deok Hee Song*, Woon Kyu Lee**, and Seul Jung*** * Department of Mechatronics Engineering, Chungnam National University, Daejeon, Korea (Tel : +82-42-821-6876; E-mail: {*hui314@yahoo.co.kr,**seeuspace@hanmail.net, ***jungs@cnu.ac.kr}) Abstract: This paper presents the kinematic analysis of two robots, an exoskeleton type master robot and a human like slave robot with two arms. Two robots are designed and built to be equivalent as motion following robots. The operator wears the exoskeleton robot to generate motions, then the slave robot is required to follow after the motion of the master robot. However, different kinematic configuration yields position mismatches of the end-effectors. To synchronize motions of two robots, kinematic analysis of mapping is analyzed. The forward and inverse kinematics have been simulated and the corresponding experiments are also conducted to confirm the proposed mapping analysis. Keywords: Motion following robot, exoskeleton robot, human like robot with two arms of the slave robot are found. Simulation studies are conducted 1. INTRODUCTION to confirm that kinematic analysis is correct. Experiments are also conducted to confirm the feasibility of the analysis. Recently, interaction between robots and humans has been enormously increased in a variety of types as the tech