Development of 4-DOF manipulator using mechanical impedance adjuster
Development of 4-DOF manipulator using mechanical impedance adjuster
复制标题
利用机械阻抗调节器开发四自由度机械手
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
S. Sugano
中科院分区：
文献类型：
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作者：
T. Morita;S. Sugano
本研究的目的是利用机械元件实现机器人关节的被动阻抗，并利用此机构研制拟人多自由度机械臂。该机构在实现高柔度方面具有传统力控制方法的优点。本文介绍了四自由度MIA臂的开发，它是机械手的上臂。本文还描述了实验评估的4自由度MIA机械手的阶跃响应和圆形轨迹。实验结果表明，该四自由度微反臂不仅具有良好的力控制性能，而且具有良好的运动控制性能。
The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple DOF manipulator using this mechanism. This mechanism has the advantage of a conventional method of force control in realizing high compliance. This paper presents the development of the 4-DOF MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-DOF MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-DOF MIA ARM has high performance not only in force control but also in motion control.