Abstract
The TOshiba Modular Manipulator System, TOMMS, consists of joint modules, link modules, and a control unit with a joystick. A manipulator with 3 d.o.f. is assembled using three joint modules and optional link modules into any desired configuration and shape, for instance, an horizontal type and an vertical type. The assembled manipulator is connected to the control unit, and the position of the end tip of the manipulator is controlled using the joystick without special handling. There is only one kind of joint module and link module. There are three input ports and two output ports on the joint module. The distance between the fore side and the back side of the link module is adjustable. The Jacobian matrix is applied to the control software. Control experiments were carried out and the efficiency of the design concept for mechanical hardware and control software was confirmed.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 2125-2131 |
| Number of pages | 7 |
| Volume | 2 |
| DOIs | |
| Publication status | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 1995 May 21 → 1995 May 27 |
Other
| Other | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) |
|---|---|
| City | Nagoya, Jpn |
| Period | 95/5/21 → 95/5/27 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Design and control of the modular robot system : TOMMS. / Matsumaru, Takafumi.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 1995. p. 2125-2131.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design and control of the modular robot system
T2 - TOMMS
AU - Matsumaru, Takafumi
PY - 1995
Y1 - 1995
N2 - The TOshiba Modular Manipulator System, TOMMS, consists of joint modules, link modules, and a control unit with a joystick. A manipulator with 3 d.o.f. is assembled using three joint modules and optional link modules into any desired configuration and shape, for instance, an horizontal type and an vertical type. The assembled manipulator is connected to the control unit, and the position of the end tip of the manipulator is controlled using the joystick without special handling. There is only one kind of joint module and link module. There are three input ports and two output ports on the joint module. The distance between the fore side and the back side of the link module is adjustable. The Jacobian matrix is applied to the control software. Control experiments were carried out and the efficiency of the design concept for mechanical hardware and control software was confirmed.
AB - The TOshiba Modular Manipulator System, TOMMS, consists of joint modules, link modules, and a control unit with a joystick. A manipulator with 3 d.o.f. is assembled using three joint modules and optional link modules into any desired configuration and shape, for instance, an horizontal type and an vertical type. The assembled manipulator is connected to the control unit, and the position of the end tip of the manipulator is controlled using the joystick without special handling. There is only one kind of joint module and link module. There are three input ports and two output ports on the joint module. The distance between the fore side and the back side of the link module is adjustable. The Jacobian matrix is applied to the control software. Control experiments were carried out and the efficiency of the design concept for mechanical hardware and control software was confirmed.
UR - http://www.scopus.com/inward/record.url?scp=0029178234&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029178234&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1995.525575
DO - 10.1109/ROBOT.1995.525575
M3 - Conference contribution
SN - 0780319656
VL - 2
SP - 2125
EP - 2131
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -