DocumentCode
3440416
Title
Design and development of a new robot joint using a mechanical impedance adjuster
Author
Morita, Toshio ; Sugano, Shigeki
Author_Institution
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
2469
Abstract
The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers using the new mechanism to grasp objects softly. This paper presents a new joint mechanism, named “mechanical impedance adjuster”, and an impedance control method of the robot finger joint by this mechanism. The effectiveness of this method is shown by the experiment on a 1-DOF finger model
Keywords
brakes; compensation; compliance control; control system synthesis; manipulators; mechanical variables control; self-adjusting systems; vibration control; brakes; damping; impedance control; leaf springs; mechanical impedance adjuster; object grasping; passive impedance; robot fingers; robot joint; self weight compensation; Actuators; Control systems; Damping; Fingers; Force control; Impedance; Joints; Robot control; Servomechanisms; Springs;
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.1995.525630
Filename
525630
Link To Document