TY - GEN
T1 - Design and control of the modular robot system
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
AU - Matsumaru, Takafumi
PY - 1995/1/1
Y1 - 1995/1/1
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.
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U2 - 10.1109/ROBOT.1995.525575
DO - 10.1109/ROBOT.1995.525575
M3 - Conference contribution
AN - SCOPUS:0029178234
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2125
EP - 2131
BT - Proceedings - IEEE International Conference on Robotics and Automation
Y2 - 21 May 1995 through 27 May 1995
ER -