Recognition of constitution/configuration and workability judgment for the modular manipulator system, TOMMS

Research output: Contribution to conferencePaper

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 languageEnglish
Pages493-500
Number of pages8
Publication statusPublished - 1996 Dec 1
Externally publishedYes
EventProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan
Duration: 1996 Aug 51996 Aug 10

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period96/8/596/8/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Matsumaru, T. (1996). Recognition of constitution/configuration and workability judgment for the modular manipulator system, TOMMS. 493-500. Paper presented at Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, .