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
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;
Conference_Titel :
Power Electronics Conference (IPEC), 2010 International
Conference_Location :
Sapporo
Print_ISBN :
978-1-4244-5394-8
DOI :
10.1109/IPEC.2010.5542384
