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

Toshio Morita, Shigeki Sugano

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

34 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
PublisherIEEE
Pages407-412
Number of pages6
Volume1
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

Fingerprint

Manipulators
Robots
Information use
Servomechanisms
Sensors
Force control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Morita, T., & Sugano, S. (1995). Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 407-412). 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. ed. / Anon. Vol. 1 IEEE, 1995. p. 407-412.

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

Morita, T & Sugano, S 1995, Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, 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. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 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. editor / Anon. Vol. 1 IEEE, 1995. pp. 407-412
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