DocumentCode
2493388
Title
Passive robotics: an exploration of mechanical computation
Author
Goswami, Ambarish ; Peshkin, Michael A. ; Colgate, James E.
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
279
Abstract
A passive wrist, of fixed design, can be programmed to execute a wide range of useful control laws. Considered in particular are wrists whose actuators are unpowered hydraulic cylinders, the ports of which are coupled to one another via variable-conductance constrictions. The wrist is programmed by selection of these conductances, much as an analog computer is programmed. The range of control laws such a device can compute is characterized mathematically
Keywords
control system synthesis; robot programming; robots; actuators; analog computer; control laws; mechanical computation; passive wrist; robot programming; unpowered hydraulic cylinders; variable-conductance constrictions; Analog computers; Assembly; Engine cylinders; Error correction; Hydraulic actuators; Robots; Springs; Stability; Transmission line matrix methods; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.125987
Filename
125987
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