로봇 팔의 제어를 위한 포텐셜미터를 이용한 팔 움직임 감지 시스템 개발 = Development of Arm Motion Sensing System Using Potentiometer for Robot Arm Control

다국어 초록 (Multilingual Abstract)

In this paper, an arm motion sensing system using potentiometer is developed. Most motion sensing systems use optical method for the quality of motion data. The optical method needs much cost for manufacturing capture system and takes much time for correcting the captured data. And mechanical method entails relativity low cost, but it uses the wires and takes much time for correcting the data like the optical method. For solving the problems, in this paper, an arm motion sensing system is newly developed using low cost potentiometer and based on the suggested simple calculation method for the joint angles and the angular velocities. For the verification of the performance of the developed system, practical experiments were executed using real human arm motion and a robot arm. The experimental results showed that the motion of the robot arm controlled by the output of the developed motion sensing system is much similar with the motion of human arm.

참고문헌 (Reference)

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