Development of 4-DOF manipulator using mechanical impedance adjuster

Author

Morita, Toshio ; Sugano, Shigeki

Author_Institution

Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2902

Abstract

The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple DOF manipulator using this mechanism. This mechanism has the advantage of a conventional method of force control in realizing high compliance. This paper presents the development of the 4-DOF MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-DOF MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-DOF MIA ARM has high performance not only in force control but also in motion control

Keywords

force control; manipulators; motion control; step response; 4-DOF MIA ARM; 4-DOF manipulator; anthropomorphic multiple DOF manipulator; circular trajectory; force control; high compliance; mechanical elements; mechanical impedance adjuster; motion control; passive impedance; robot joint; step responses; upper arm; Anthropomorphism; Control systems; Force control; Humans; Impedance; Manipulators; Robotics and automation; Robots; Servomechanisms; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509153

Filename

509153