抄録
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 |
|---|---|
| ホスト出版物のタイトル | IEEE International Conference on Intelligent Robots and Systems |
| 編集者 | Anon |
| 出版場所 | Piscataway, NJ, United States |
| 出版者 | IEEE |
| ページ | 407-412 |
| ページ数 | 6 |
| 巻 | 1 |
| 出版物ステータス | Published - 1995 |
| 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 5 → 1995 8 9 |
Other
| Other | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| 市 | Pittsburgh, PA, USA |
| 期間 | 95/8/5 → 95/8/9 |
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ASJC Scopus subject areas
- Control and Systems Engineering
これを引用
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. 版 / Anon. 巻 1 Piscataway, NJ, United States : IEEE, 1995. p. 407-412.研究成果: Conference contribution
}
TY - GEN
T1 - Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster
AU - Morita, Toshio
AU - Sugano, Shigeki
PY - 1995
Y1 - 1995
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0029178880&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029178880&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0029178880
VL - 1
SP - 407
EP - 412
BT - IEEE International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - IEEE
CY - Piscataway, NJ, United States
ER -