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
fDate :
Sept. 28 1991-Oct. 4 1991
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;
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
DOI :
10.1109/IAS.1991.178049
