DocumentCode
3091218
Title
Development of force control device with high power and high resolution
Author
Osumi, Hisashi ; Tomiyama, Takahiro
Author_Institution
Fac. of Sci. & Eng., Chuo Univ., Tokyo
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
949
Lastpage
954
Abstract
A force control device with high power and high resolution is developed. It consists of a spring and a small force actuator which are connected in parallel between the base plate and the output plate. By installing this device into a tip of a high power industrial robot, large forces with high resolution can be achieved under the existence of static friction. In this paper, the principle of force control device is verified by using a simple two d.o.f. experimental setup. From experimental results, the effectiveness of the developed control device and its control algorithm is verified.
Keywords
actuators; force control; industrial robots; springs (mechanical); stiction; force actuator; force control device; industrial robot; spring; static friction; Actuators; Force; Force control; Friction; Manipulators; Robots; Servomotors;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650791
Filename
4650791
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