Mechanical Home Position Setting Method of the Manipulator with Two Encoders

摘要

Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The dual-arm robot we are developing has some merits compared with conventional dual-arm robots. It's size is similar to adult human size and payload is more than 5kg. We can not attach powerful position sensors at each joints to achieve small body with high torque property. With these constraints, we still want to achieve high precision position sensors with mechanical home positioning functions. The method is implemented with a absolute encoder without multi-turn function and a incremental encoder.