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
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;
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
DOI :
10.1109/IROS.1997.649004
