Title :
Design and development of a new robot joint using a mechanical impedance adjuster
Author :
Morita, Toshio ; Sugano, Shigeki
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Abstract :
The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers using the new mechanism to grasp objects softly. This paper presents a new joint mechanism, named “mechanical impedance adjuster”, and an impedance control method of the robot finger joint by this mechanism. The effectiveness of this method is shown by the experiment on a 1-DOF finger model
Keywords :
brakes; compensation; compliance control; control system synthesis; manipulators; mechanical variables control; self-adjusting systems; vibration control; brakes; damping; impedance control; leaf springs; mechanical impedance adjuster; object grasping; passive impedance; robot fingers; robot joint; self weight compensation; Actuators; Control systems; Damping; Fingers; Force control; Impedance; Joints; Robot control; Servomechanisms; Springs;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525630
