Abstract
A design concept of TOMMS, TOshiba Modular Manipulator System, has been already proposed to achieve a modular manipulator system which can be assembled into any desired constitution and configuration to provide adaptability to tasks, using as few kinds and types of modules as possible, without special handling such as modification of control software. To realize the concept, we developed a constitution and configuration recognition method of the assembled manipulator using electric resistance which is simple, practical and reliable. Moreover, we developed a workability judgment method considering the degeneracy of degrees of freedom (d.o.f.) of the manipulator and the conditions of the desired task. These methods were applied to the trial system TOMMS-1 and their efficiency and practicality were confirmed.
| Original language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Editors | Anon |
| Place of Publication | Los Alamitos, CA, United States |
| Publisher | IEEE |
| Pages | 493-500 |
| Number of pages | 8 |
| Volume | 1 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan Duration: 1996 Aug 5 → 1996 Aug 10 |
Other
| Other | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) |
|---|---|
| City | Taipei, Taiwan |
| Period | 96/8/5 → 96/8/10 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Recognition of constitution/configuration and workability judgment for the modular manipulator system, TOMMS. / Matsumaru, Takafumi.
IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 1 Los Alamitos, CA, United States : IEEE, 1996. p. 493-500.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Recognition of constitution/configuration and workability judgment for the modular manipulator system, TOMMS
AU - Matsumaru, Takafumi
PY - 1996
Y1 - 1996
N2 - A design concept of TOMMS, TOshiba Modular Manipulator System, has been already proposed to achieve a modular manipulator system which can be assembled into any desired constitution and configuration to provide adaptability to tasks, using as few kinds and types of modules as possible, without special handling such as modification of control software. To realize the concept, we developed a constitution and configuration recognition method of the assembled manipulator using electric resistance which is simple, practical and reliable. Moreover, we developed a workability judgment method considering the degeneracy of degrees of freedom (d.o.f.) of the manipulator and the conditions of the desired task. These methods were applied to the trial system TOMMS-1 and their efficiency and practicality were confirmed.
AB - A design concept of TOMMS, TOshiba Modular Manipulator System, has been already proposed to achieve a modular manipulator system which can be assembled into any desired constitution and configuration to provide adaptability to tasks, using as few kinds and types of modules as possible, without special handling such as modification of control software. To realize the concept, we developed a constitution and configuration recognition method of the assembled manipulator using electric resistance which is simple, practical and reliable. Moreover, we developed a workability judgment method considering the degeneracy of degrees of freedom (d.o.f.) of the manipulator and the conditions of the desired task. These methods were applied to the trial system TOMMS-1 and their efficiency and practicality were confirmed.
UR - http://www.scopus.com/inward/record.url?scp=0030409958&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030409958&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0030409958
VL - 1
SP - 493
EP - 500
BT - IECON Proceedings (Industrial Electronics Conference)
A2 - Anon, null
PB - IEEE
CY - Los Alamitos, CA, United States
ER -