Title :
Control approaches for a dissipative passive trajectory enhancing robot
Author :
Waldorff Gomes, M. ; Book, W.J.
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Summary form only given as follows. A mechanically passive device is described which, when controlled by an appropriate algorithm, restricts the user to move the tip of the device along a specified but arbitrary path. One advantage of such a device is safety from malfunctions of the controlling actuators. A novel approach for controlling such a device is presented, along with some results of the control algorithms that were implemented on the testbed device.
Keywords :
actuators; position control; robots; control algorithms; controlling actuators; dissipative passive trajectory enhancing robot; mechanically passive device; Actuators; Books; Mechanical engineering; Robots; Safety devices; Testing;
Conference_Titel :
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location :
Tokyo, Japan
Print_ISBN :
0-7803-4080-9
DOI :
10.1109/AIM.1997.652958
