Development and evaluation of seven DOF MIA ARM

Author

Morita, Toshio ; Sugano, Shigeki

Author_Institution

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

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

462

Abstract

This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven DOF MIA ARM) which consists of shoulder, elbow and wrist. This paper also describes a dynamic model of multiple-DOF MIA and an experimental evaluation of the seven DOF MIA ARM by means of trajectory control. The experimental results show that the seven DOF MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping

Keywords

force control; manipulator dynamics; motion control; position control; anthropomorphic manipulator; damping; dynamic model; dynamics; elbow; force control; high compliance; human-robot cooperative tasks; mechanical elements; motion control; multiple-DOF MIA; passive impedance control; robot joint; safety motion; selfweight; seven DOF MIA ARM; shoulder; trajectory control; wrist; Anthropomorphism; Elbow; Force control; Impedance; Manipulator dynamics; Motion control; Robot control; Safety; Shoulder; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620080

Filename

620080