DocumentCode :
3091218
Title :
Development of force control device with high power and high resolution
Author :
Osumi, Hisashi ; Tomiyama, Takahiro
Author_Institution :
Fac. of Sci. & Eng., Chuo Univ., Tokyo
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
949
Lastpage :
954
Abstract :
A force control device with high power and high resolution is developed. It consists of a spring and a small force actuator which are connected in parallel between the base plate and the output plate. By installing this device into a tip of a high power industrial robot, large forces with high resolution can be achieved under the existence of static friction. In this paper, the principle of force control device is verified by using a simple two d.o.f. experimental setup. From experimental results, the effectiveness of the developed control device and its control algorithm is verified.
Keywords :
actuators; force control; industrial robots; springs (mechanical); stiction; force actuator; force control device; industrial robot; spring; static friction; Actuators; Force; Force control; Friction; Manipulators; Robots; Servomotors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650791
Filename :
4650791
Link To Document :
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