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
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;
Journal_Title :
Industry Applications, IEEE Transactions on
