雙臂機器人系統簡介

Introduction to the Dual Arm Robot System

彭彥嘉 ； 張高銘 ； 曾建霖 ； 林宸霆

《機械工業雜誌》 473期 (2022/08) Pp. 38-45

摘要

雙臂機器人系統模仿人類雙手來進行複雜的工作，相較於單臂機器人，可處理更加複雜的任務。本文介紹了工研院機械所機器人實驗室（ITRI Robotics Lab）所開發的雙手臂機器人系統（Dual Arm Robot System, DARS）。首先介紹DARS所使用的機械手臂，接著我們介紹如何使雙手臂同時協同運動，最後介紹DARS中所搭載智慧視覺系統。

關鍵字

雙臂機器人系統 ； 冗餘手臂 ； 視覺

並列摘要

Dual arm robot system imitates human hands to perform complex tasks and handle more complex tasks than single-arm robot. This article introduces the Dual Arm Robot System (DARS) developed by ITRI Robotics Lab. First, we will introduce the robotic arms used in DARS, and then discuss how to solve the dual-arm synchronization problem, and finally, describe the intelligent vision system that being installed in DARS.

並列關鍵字

Dual arm robot system ； Redundant arm ； Vision

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