DocumentCode
1818334
Title
Experimental research of a torque-unit manipulator
Author
Yoshida, Koji ; Osuka, Koichi ; Nakano, Tsuyoshi ; Ono, Toshiro
Author_Institution
Dept. of Syst. Eng., Okayama Univ., Japan
Volume
1
fYear
1997
fDate
7-11 Sep 1997
Firstpage
76
Abstract
A new design concept of a manipulator is proposed, which is called torque-unit manipulator (TUM). The TUM was just born out of an idea of utilizing counter-torque, and its position-controllability has been shown theoretically. Hence, mechanical implementation and experimental examination are very important for the TUM to be in practical use. In this paper, experimental results are shown using a prototype TUM which is 2 degree-of-freedom and a discussion is given
Keywords
controllability; intelligent control; manipulator dynamics; manipulator kinematics; parameter estimation; position control; 2 degree-of-freedom manipulator; counter-torque; position-controllability; torque-unit manipulator; Design engineering; Earth; Gears; Kinematics; Manipulators; Mechanical systems; Pneumatic actuators; Shafts; Systems engineering and theory; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.649004
Filename
649004
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