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

Toshio Morita, Shigeki Sugano

    研究成果: Conference contribution

    34 引用 (Scopus)

    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
    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 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

    Fingerprint

    Manipulators
    Robots
    Information use
    Servomechanisms
    Sensors
    Force control

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Morita, T., & Sugano, S. (1995). Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. : Anon (版), IEEE International Conference on Intelligent Robots and Systems (巻 1, pp. 407-412). Piscataway, NJ, United States: IEEE.

    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

    Morita, T & Sugano, S 1995, Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. : Anon (版), IEEE International Conference on Intelligent Robots and Systems. 巻. 1, IEEE, Piscataway, NJ, United States, pp. 407-412, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
    Morita T, Sugano S. Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. : Anon, 編集者, IEEE International Conference on Intelligent Robots and Systems. 巻 1. Piscataway, NJ, United States: IEEE. 1995. p. 407-412
    Morita, Toshio ; Sugano, Shigeki. / Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. IEEE International Conference on Intelligent Robots and Systems. 編集者 / Anon. 巻 1 Piscataway, NJ, United States : IEEE, 1995. pp. 407-412
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