Development of a model-based remote maintenance robot system (IV) - a practical stiffness control method for redundant robot arm

Yukio Asari, Hirokazu Sato, Takashi Yoshimi, Kyoich Tatsuno, Kuniji Asano

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

A simple stiffness control method for a seven degrees of freedom redundant robot arm is presented. This stiffness control method is a very practical method to apply to a real robot system. The robot arm is able to move compliantly by this method without heavy computation. This method uses transpose of the Jacobian matrix to transform the end-point forces into the joint torques for force feedback, but does not require either inverse of the Jacobian matrix or solution of the kinematic equation. Also, the method uses `joints potential' but does not require pseudo-inverse of the Jacobian matrix to keep the configuration of an arm even if the arm is redundant. Those are the reasons why this method does not require heavy computation for calculation of the control algorithm. We have applied this control method to our dual experimental robot arms. Both arms are anthropomorphic and have seven degrees of freedom except for the one degree of freedom of a gripper. These arms are parts of our model-based remote maintenance robot system `TAROS' (Toshiba Advanced RObot System). The arms were able to carry out compliantly such tasks as turning a crank or fastening a bolt. And also the arms were able to grope on the surface of the work-object and locate the positions of holes.

元の言語English
ホスト出版物のタイトル1993 Int Conf Intell Rob Syst
編集者 Anon
出版者Publ by IEEE
ページ1245-1251
ページ数7
ISBN(印刷物)0780308239
出版物ステータスPublished - 1993 12 1
外部発表Yes
イベント1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Yokohama, Jap
期間93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

    Asari, Y., Sato, H., Yoshimi, T., Tatsuno, K., & Asano, K. (1993). Development of a model-based remote maintenance robot system (IV) - a practical stiffness control method for redundant robot arm. : Anon (版), 1993 Int Conf Intell Rob Syst (pp. 1245-1251). (1993 Int Conf Intell Rob Syst). Publ by IEEE.