The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple D.O.F. manipulator using this mechanism. This mechanism has the advantage of conventional method of the force control in realizing high compliance. This paper presents the development of the 4-D.O.F. MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-D.O.F. MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-D.O.F. MIA ARM has high performance not only in force control but also in motion control.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1996 1 1|
|イベント||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
継続期間: 1996 4 22 → 1996 4 28
ASJC Scopus subject areas