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
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;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.125987
