Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

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

    34 Citations (Scopus)

    Abstract

    In order to realize constraint tasks by a manipulator, it is effective to adjust the joint impedance to the appropriate value. Most of the previous studies use the active force control method that uses information from force sensors. Using this method, the performances are limited by the responses of the servo systems, the non-linear characteristics of the force sensors and the dynamics of the manipulator. The object of this study is to adjust the joint impedance of the manipulator to an ideal degree by a mechanism which consists of a spring and a damper. In previous study, we proposed a compliance adjustment method using the spring mechanism, the structure and control of the pseudo-damper system, and simple control algorithms for the coordinated system. In this paper, we discuss the evaluation of the effect of these mechanisms and the control method using the 1-D.O.F. Arm Model which was newly developed as a base model to build a multiple degrees of freedom manipulators.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages407-412
    Number of pages6
    Volume1
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
    Duration: 1995 Aug 51995 Aug 9

    Other

    OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    CityPittsburgh, PA, USA
    Period95/8/595/8/9

    Fingerprint

    Manipulators
    Robots
    Information use
    Servomechanisms
    Sensors
    Force control

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Morita, T., & Sugano, S. (1995). Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 407-412). Piscataway, NJ, United States: IEEE.

    Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. / Morita, Toshio; Sugano, Shigeki.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. p. 407-412.

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

    Morita, T & Sugano, S 1995, Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, Piscataway, NJ, United States, pp. 407-412, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
    Morita T, Sugano S. Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. Piscataway, NJ, United States: IEEE. 1995. p. 407-412
    Morita, Toshio ; Sugano, Shigeki. / Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. pp. 407-412
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