Direct-drive active compliant end effector (active RCC)

Author

Kazerooni, H.

Author_Institution

Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA

Volume

4

Issue

3

fYear

1988

fDate

6/1/1988 12:00:00 AM

Firstpage

324

Lastpage

333

Abstract

A fast, lightweight, active end-effector, which can be attached to the endpoint of a commercial robot manipulator, has been designed and built using an impedance-control method. This control method causes the end-effector to behave dynamically as a two-dimensional remote center compliance (RCC). The compliancy is in this active end-effector is electronic and can be modulated by an online computer. The device is planar and five-bar linkage, and is driven by two direct-drive, brushless DC motors. A two-dimensional, piezoelectric force cell on the endpoint of the device, two 12-bit encoders, and two tachometers on the motors form the measurement system. The high structural stiffness and light weight of the material used in the system allow for a 15-Hz-bandwidth impedance control

Keywords

DC motors; electric variables control; robots; 12-bit encoders; 15 Hz; active end-effector; brushless DC motors; impedance-control; piezoelectric force cell; remote center compliance; robot manipulator; tachometers; Brushless DC motors; Control systems; Couplings; DC motors; End effectors; Force measurement; Impedance; Lighting control; Manipulator dynamics; Robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.793

Filename

793