DocumentCode
812265
Title
Impedance control of a manipulator using torque-controlled lightweight actuators
Author
Sakaki, Taisuke ; Iwakane, Takanobu
Author_Institution
Yaskawa Electr. Manuf. Corp., Tsukuba Science City, Japan
Volume
28
Issue
6
fYear
1992
Firstpage
1399
Lastpage
1405
Abstract
The performance of a new actuator for advanced robots is studied in terms of its compactness and force controllability. One-tenth lightweight electric actuators and one-twentieth-sized compact control drivers and their sophisticated force control performance in the execution of dextrous and compliant manipulation are reported. Static and dynamic force controllability of the proposed actuator is verified by impedance control experiments with a three-degree-of-freedom manipulator
Keywords
electric actuators; manipulators; torque control; compact control drivers; compliant manipulation; dextrous manipulation; dynamic force; force control; impedance control; manipulator; robots; static force; torque-controlled lightweight actuators; Actuators; Control systems; Controllability; Force control; Impedance; Lighting control; Manipulators; Robotics and automation; Service robots; Torque control;
fLanguage
English
Journal_Title
Industry Applications, IEEE Transactions on
Publisher
ieee
ISSN
0093-9994
Type
jour
DOI
10.1109/28.175294
Filename
175294
Link To Document