This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/ slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

Abstract
 1. 서 론
 2. 시스템 구성
 3. 유연 로봇 팔 설계
 4. 팔의 동작을 위한 기구학적 해석
 5. 센서 분석
  5.1 MYO/EMG 센서
  5.2 EMG 센서의 데이터 처리
  5.3 IMU 센서의 신호값 처리
 6. 로봇 팔 제어시스템
  6.1 Wind-up을 적용한 PID제어
  6.2 제어명령 전송
 7. 실험결과
 8. 결 론
 References

• 김상현(Dept. of Mechanical System Design Engineering, Seoul Nat’l Univ. of Science and Technology) | Sanghyun Kim
• 김민효(Dept. of Mechanical System Design Engineering, Seoul Nat’l Univ. of Science and Technology) | Minhyo Kim
• 강준기(Dept. of Mechanical System Design Engineering, Seoul Nat’l Univ. of Science and Technology) | Junki Kang
• 손승제(Dept. of Mechanical Design and Robot Engineering, Seoul Nat’l Univ. of Science and Technology) | SeungJe Son
• 김동환(Dept. of Mechanical System Design Engineering, Seoul Nat’l Univ. of Science and Technology) | Dong Hwan Kim Corresponding author