書誌事項
- タイトル別名
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- Development of Force-Controlled Robot Arm Using Mechanical Impedance Adjuster.
- カンセツ ノ キカイ インピーダンス オ チョウセツ カノウ ナ チカラ セイ
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抄録
This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is suitable for the human-robot coordination, because each joint can realize safety motion. This paper presents a development of the anthropomorphic robot arm (seven-D.O.F. MIA Arm) which consists of shoulder, elbow, and wrist. This paper also describes experimental evaluations of the seven-D.O.F. MIA Arm by means of compliance and damping adjustment, force following motion, and trajectory control. The experimental results show that the seven-D.O.F. MIA Arm can realize high performance in motion control with consideration to the effect of self-weight and damping.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 16 (7), 1001-1006, 1998
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726882304
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- NII論文ID
- 10002864833
- 10004625924
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4583790
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可