Development and evaluation of seven-D.O.F. MIA ARM

Toshio Morita, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    55 Citations (Scopus)

    Abstract

    This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven-D.O.F. MIA ARM) which consists of shoulder, elbow, and wrist. This paper also describes a dynamic model of multiple-D.O.F. MIA and an experimental evaluation of the seven-D.O.F. MIA ARM by means of trajectory control. The experimental results show that the seven-D.O.F. MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages462-467
    Number of pages6
    Volume1
    Publication statusPublished - 1997
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    Other

    OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
    CityAlbuquerque, NM, USA
    Period97/4/2097/4/25

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Morita, T., & Sugano, S. (1997). Development and evaluation of seven-D.O.F. MIA ARM. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 462-467). IEEE.