Development of Easy Teaching Interface for a Dual Arm Robot Manipulator

 Abstract— it is very complicating for the operator to teach a dual arm robot manipulator. A dual arm robot manipulator has two arms, a left arm and a right arm. For a dual arm robot manipulator the cooperation of the two arms is important for many jobs. The operator has to teach the relative motion between the left arm and the right arm. But it is very difficult to teach the relative motion between the left arm and the right arm using the traditional teaching pendants. Because with the traditional teaching pendant system, the operator has to consider the relative kinematic relationship to achieve the cooperative motion of the left and the right arms. For this reason, the easy teaching interface for the dual arm robot manipulator has been developed in this research. It gives very intuitive way to teach a dual arm robot manipulator. The research result will be introduced. Index Terms—Dual arm robot manipulator, User Interface, i i i p a o n U p a o n U