DocumentCode
2101868
Title
Robot arm imitated mechanism of bi-articular muscles using antagonism multi-motor drives
Author
Umemura, Atsushi ; Haneyoshi, Toshimasa ; Saito, Yukio
Author_Institution
Dept. of Appl. Syst. Eng., Tokyo Denki Univ., Saitama, Japan
fYear
2005
fDate
13-15 Aug. 2005
Firstpage
496
Lastpage
499
Abstract
The demands for an industrial robot are speed and accuracy. A dead-zone like the backlash may cause delay, inaccuracy, vibration and degrades overall control performance. In this paper the backlash vibration control in the flinging up the manipulator by the sequence multi-motor drive is shown. 2-links manipulator is driven by one or more motors. The sequence drive stop produces a controlled vibration smaller than synchronous stop. Multi-motor system realizes the servosystem which not only carries high efficiency and highly precise system but also allows a low price.
Keywords
industrial manipulators; motor drives; servomotors; vibration control; 2-links manipulator; antagonism multimotor drives; backlash vibration control; biarticular muscles; industrial robot; robot arm; sequence drive stop; servosystem; DC motors; Gears; Humans; Manipulators; Muscles; Robots; Shoulder; Synchronous motors; Vibration control; Voltage;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interactive Communication, 2005. ROMAN 2005. IEEE International Workshop on
Print_ISBN
0-7803-9274-4
Type
conf
DOI
10.1109/ROMAN.2005.1513828
Filename
1513828
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