Analysis of human arm motions at assembly work as a basic of designing dual robot arm system

An analysis of human arm motions has been studied as a preliminary result prior to the design of an artificial shoulder-attached double-arm robot to imitate human arms' motions. For modeling the dual arm robot, a DH-parameter's based forward-kinematics of the arms are analyzed. Since in the real world human hands hold various types of objects with distinct weights and volumes, we take into account unpredictably center of mass of the entire arms as uncertainty. For this purpose, the model to follow must be based on human's behavior. Therefore, human anthropomorphic is required to be applied for determining the robot's parameters. In addition, human motion limitations must be considered as the limitation of the robot's motions as well. Simulations of the results are presented to verify the performance of the model and will be used as model for adaptive controller design.