Title :
Control of a flexible link hammer in a gravitational field and its application to a home robot tapping human shoulders
Author :
Izumi, T. ; Hitaka, Y.
Author_Institution :
Dept. of Electr. & Electron. Eng., Yamaguchi Univ., Japan
Abstract :
The paper deals with the motion control of a flexible link hammer within a vertical plane. The deflection of the flexible link hammer is analyzed in the condition that the hub actuator is excited by a single pulse acceleration and the head is subjected to gravity, Next, the flexible link hammer is attached to the end effector of a home robot. It is shown that the robot can tap a person on the shoulders to relieve them from stiff shoulders
Keywords :
manipulators; end effector; flexible link hammer; gravitational field; home robot tapping human shoulders; hub actuator; motion control; single pulse acceleration; stiff shoulders; vertical plane; Acceleration; Differential equations; Educational institutions; Energy efficiency; Gravity; Humans; Manipulators; Motion control; Robots; Torque;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583354
