Title :
New robot mechanisms for new robot capabilities
Author :
Khatib, Oussama ; Roth, Bernard
Author_Institution :
Robotics Lab., Stanford Univ., CA, USA
Abstract :
The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoing effort at Stanford University for the development of high-performance force-controlled robot systems to provide the advanced capabilities needed for carrying out dextrous manipulation tasks
Keywords :
force control; robots; dextrous manipulation tasks; fine manipulation ability; high-performance force-controlled robot systems; joint torque controllability; manipulator; motion redundancy; optimal dynamic characteristics; robot capabilities; robot mechanisms; Force control; Industrial control; Manipulator dynamics; Motion control; Robot control; Robot sensing systems; Robotic assembly; Service robots; Three-term control; Torque control;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174424
