Development of 4-D.O.F. manipulator using mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

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

    34 Citations (Scopus)

    Abstract

    The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple D.O.F. manipulator using this mechanism. This mechanism has the advantage of conventional method of the force control in realizing high compliance. This paper presents the development of the 4-D.O.F. MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-D.O.F. MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-D.O.F. MIA ARM has high performance not only in force control but also in motion control.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages2902-2907
    Number of pages6
    Volume4
    Publication statusPublished - 1996
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    Other

    OtherProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityMinneapolis, MN, USA
    Period96/4/2296/4/28

    Fingerprint

    Manipulators
    Force control
    Step response
    Motion control
    Trajectories
    Robots
    Compliance

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Morita, T., & Sugano, S. (1996). Development of 4-D.O.F. manipulator using mechanical impedance adjuster. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 2902-2907). IEEE.

    Development of 4-D.O.F. manipulator using mechanical impedance adjuster. / Morita, Toshio; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 IEEE, 1996. p. 2902-2907.

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

    Morita, T & Sugano, S 1996, Development of 4-D.O.F. manipulator using mechanical impedance adjuster. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, IEEE, pp. 2902-2907, Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4), Minneapolis, MN, USA, 96/4/22.
    Morita T, Sugano S. Development of 4-D.O.F. manipulator using mechanical impedance adjuster. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. IEEE. 1996. p. 2902-2907
    Morita, Toshio ; Sugano, Shigeki. / Development of 4-D.O.F. manipulator using mechanical impedance adjuster. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 IEEE, 1996. pp. 2902-2907
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