New robot mechanisms for new robot capabilities
New robot mechanisms for new robot capabilities
复制标题
新的机器人机制带来新的机器人功能
DOI：
10.1109/iros.1991.174424
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
B. Roth
中科院分区：
文献类型：
--
作者：
O. Khatib;B. Roth
作者指出，需要克服传统的机械手机制固有的缺陷。关节力矩可控性、最佳动态特性、运动冗余度和精细操作能力是先进机器人系统的基本特性。本文讨论了目前的机器人技术的局限性，并介绍了正在进行的努力，在斯坦福大学的高性能力控机器人系统的发展，以提供先进的能力，需要执行的操作任务。<<ETX>>
The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoing effort at Stanford University for the development of high-performance force-controlled robot systems to provide the advanced capabilities needed for carrying out dextrous manipulation tasks.<<ETX>>