Development and evaluation of seven-D.O.F. MIA ARM

Toshio Morita, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

55 Citations (Scopus)

Abstract

This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven-D.O.F. MIA ARM) which consists of shoulder, elbow, and wrist. This paper also describes a dynamic model of multiple-D.O.F. MIA and an experimental evaluation of the seven-D.O.F. MIA ARM by means of trajectory control. The experimental results show that the seven-D.O.F. MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages462-467
Number of pages6
Volume1
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

Other

OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
CityAlbuquerque, NM, USA
Period97/4/2097/4/25

Fingerprint

Manipulators
Robots
Force control
Motion control
Dynamic models
Damping
Trajectories
Compliance

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Morita, T., & Sugano, S. (1997). Development and evaluation of seven-D.O.F. MIA ARM. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 462-467). IEEE.

Development and evaluation of seven-D.O.F. MIA ARM. / Morita, Toshio; Sugano, Shigeki.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. p. 462-467.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Morita, T & Sugano, S 1997, Development and evaluation of seven-D.O.F. MIA ARM. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 462-467, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 97/4/20.
Morita T, Sugano S. Development and evaluation of seven-D.O.F. MIA ARM. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1997. p. 462-467
Morita, Toshio ; Sugano, Shigeki. / Development and evaluation of seven-D.O.F. MIA ARM. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. pp. 462-467
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