Title :
Variable spatial springs for robot control applications
Author :
Stramigioli, Stefano ; Duindam, Vincent
Author_Institution :
Drebbel Inst., Twente Univ., Enschede, Netherlands
Abstract :
This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described
Keywords :
actuators; geometry; matrix algebra; mechanical variables control; telerobotics; controlling ports; geometric scattering; orthonormal matrix; potential energy; scattering; telemanipulation; varying geometrical spring; varying spatial springs; Buildings; Delay lines; Impedance; Joining processes; Paper technology; Potential energy; Robot control; Scattering; Solid modeling; Springs;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976352
