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

Toshio Morita, Shigeki Sugano

研究成果: Paper

抜粋

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.

元の言語English
ページ407-412
ページ数6
出版物ステータスPublished - 1995 1 1
イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
継続期間: 1995 8 51995 8 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
Pittsburgh, PA, USA
期間95/8/595/8/9

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Morita, T., & Sugano, S. (1995). Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. 407-412. 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .