Title :
Research on a New Type Motion-Decoupling Hydraulic Servo Shoulder Joint and Its Control System
Author :
Yang, Zhenzhong ; Zhou, Jiping ; Xinglong Zhu
Author_Institution :
Univ. of Yangzhou, Yangzhou
Abstract :
Based on the analysis and summary of the functions and characteristics of the robot shoulder joint, design project of a new type 3-DOF (degree of freedom) motion-decoupling hydraulic servo shoulder joint is presented. Working principle is expatiated. Detailed mechanism is designed. Meanwhile, the control system of the motion-decoupling hydraulic servo shoulder joint is researched and developed.
Keywords :
manipulator dynamics; motion control; servomechanisms; control system; degree of freedom; motion-decoupling hydraulic servo shoulder joint; robot shoulder joint; Control systems; Manipulators; Motion analysis; Motion control; Orbital robotics; Service robots; Servomechanisms; Shoulder; Torque control; Wrist; control system research and development; hydraulic servo shoulder joint; mechanism design; motion-decoupling;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303691
