DocumentCode
2843686
Title
Impedance control of a manipulator using torque-controlled lightweight actuators
Author
Sakaki, Taisuke ; Iwakane, Takanobu
Author_Institution
Yaskawa Electr. Manuf. Co. Ltd., Kitakyushu, Japan
fYear
1991
fDate
Sept. 28 1991-Oct. 4 1991
Firstpage
1438
Abstract
The performance of a novel actuator for advanced robots is studied in terms of its compactness and force controllability. The authors present lightweight electric actuators and compact control drivers, and their sophisticated force control performance in the execution of dexterous and compliant manipulation. State and dynamic force controllability of the proposed actuator is verified by some impedance control experiments with a three degree-of-freedom manipulator.<>
Keywords
electric actuators; force control; industrial robots; actuator; compactness; control drivers; degree-of-freedom; electric impedance; force control; impedance control; lightweight; manipulation; manipulator; performance; robots; Actuators; Control systems; Controllability; Force control; Impedance; Lighting control; Manipulator dynamics; Service robots; Shoulder; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industry Applications Society Annual Meeting, 1991., Conference Record of the 1991 IEEE
Conference_Location
Dearborn, MI, USA
Print_ISBN
0-7803-0453-5
Type
conf
DOI
10.1109/IAS.1991.178049
Filename
178049
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