Design and control of the modular robot system: TOMMS

研究成果: Conference contribution

69 被引用数 (Scopus)

抄録

The TOshiba Modular Manipulator System, TOMMS, consists of joint modules, link modules, and a control unit with a joystick. A manipulator with 3 d.o.f. is assembled using three joint modules and optional link modules into any desired configuration and shape, for instance, an horizontal type and an vertical type. The assembled manipulator is connected to the control unit, and the position of the end tip of the manipulator is controlled using the joystick without special handling. There is only one kind of joint module and link module. There are three input ports and two output ports on the joint module. The distance between the fore side and the back side of the link module is adjustable. The Jacobian matrix is applied to the control software. Control experiments were carried out and the efficiency of the design concept for mechanical hardware and control software was confirmed.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2125-2131
ページ数7
DOI
出版ステータスPublished - 1995 1 1
外部発表はい
イベントProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
継続期間: 1995 5 211995 5 27

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2
ISSN(印刷版)1050-4729

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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