DocumentCode
3447297
Title
Coordination control of bi-articular robotic arm by motor drive with planetary gear
Author
Shinohara, M. ; Umemura, A. ; Haneyoshi, T. ; Saito, Y.
Author_Institution
Tokyo Denki Univ., Saitama, Japan
fYear
2010
fDate
21-24 June 2010
Firstpage
2551
Lastpage
2556
Abstract
The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of bi-articular muscle.
Keywords
actuators; force control; gears; manipulators; motor drives; actuator; biarticular muscle; biarticular robotic arm; coordination control; motor drive; planetary gear; two-joint robot arm system; Actuators; Couplings; Ear; Gears; Motor drives; Muscles; Robot control; Robot kinematics; Sun; Torque; bi-articular actuator; output force control; planetary gear; stiffness control;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics Conference (IPEC), 2010 International
Conference_Location
Sapporo
Print_ISBN
978-1-4244-5394-8
Type
conf
DOI
10.1109/IPEC.2010.5542384
Filename
5542384
Link To Document