Design and control of the modular robot system: TOMMS

Author

Matsumaru, Takahmi

Author_Institution

Res. & Dev. Center, Toshiba Corp., Kawasaki, Japan

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

2125

Abstract

The Toshiba Modular Manipulator System, TOMMS, consists of joint modules, link modules, and a control unit with a joystick. A manipulator with 3-DOF is assembled using three joint modules and optional link modules into any desired configuration and shape, for example, a horizontal type and vertical type. The assembled manipulator is connected to the control unit, and the position of the end tip of the manipulator is controlled using the joystick without special handling. There is only one kind of joint module and link module. There are three input ports and two output ports on the joint module. The distance between the fore side and the back side of the link module is adjustable. The Jacobian matrix is applied to the control software. Control experiments were carried out and the efficiency of the design concept for mechanical hardware and control software was confirmed

Keywords

Jacobian matrices; control system CAD; control systems; modules; robots; Jacobian matrix; TOMMS; Toshiba Modular Manipulator System; control software; control unit; design concept; joint modules; joystick control; link modules; modular robot system; Control systems; End effectors; Hardware; Jacobian matrices; Manipulators; Research and development; Robotic assembly; Robotics and automation; Robots; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525575

Filename

525575