DEVELOPMENT OF DIRECT-DRIVE HUMAN-LIKE MANIPULATOR.

Tatsuo Arai; Eiji Nakano; Tomoaki Yano; Ryoichi Hashimoto; Ichiro Takeyama

DEVELOPMENT OF DIRECT-DRIVE HUMAN-LIKE MANIPULATOR.

Tatsuo Arai^*, Eiji Nakano, Tomoaki Yano, Ryoichi Hashimoto, Ichiro Takeyama

^*Corresponding author for this work

Japan Ministry of Economy, Trade and Industry

Research output: Contribution to conference › Paper › peer-review

7 Citations (Scopus)

Abstract

In this paper we will introduce the hardware and the basic control algorithm of a newly developed manipulator. It has an articulated configuration with seven degrees of freedom. Each joint is directly driven by either one or two D. C. torque motors. In order to solve the problem of a gravity effect we have equipped the first and the second joints with an active gravity compensation mechanism, which consists of an exclusive actuator and a torque sensor. By introducing this mechanism, the manipulator can hold up to a 5 Kg load.

Original language	English
Pages	447-454
Number of pages	8
Publication status	Published - 1985
Externally published	Yes

Cite this

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title = "DEVELOPMENT OF DIRECT-DRIVE HUMAN-LIKE MANIPULATOR.",

abstract = "In this paper we will introduce the hardware and the basic control algorithm of a newly developed manipulator. It has an articulated configuration with seven degrees of freedom. Each joint is directly driven by either one or two D. C. torque motors. In order to solve the problem of a gravity effect we have equipped the first and the second joints with an active gravity compensation mechanism, which consists of an exclusive actuator and a torque sensor. By introducing this mechanism, the manipulator can hold up to a 5 Kg load.",

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AU - Arai, Tatsuo

AU - Nakano, Eiji

AU - Yano, Tomoaki

AU - Hashimoto, Ryoichi

AU - Takeyama, Ichiro

PY - 1985

Y1 - 1985

N2 - In this paper we will introduce the hardware and the basic control algorithm of a newly developed manipulator. It has an articulated configuration with seven degrees of freedom. Each joint is directly driven by either one or two D. C. torque motors. In order to solve the problem of a gravity effect we have equipped the first and the second joints with an active gravity compensation mechanism, which consists of an exclusive actuator and a torque sensor. By introducing this mechanism, the manipulator can hold up to a 5 Kg load.

AB - In this paper we will introduce the hardware and the basic control algorithm of a newly developed manipulator. It has an articulated configuration with seven degrees of freedom. Each joint is directly driven by either one or two D. C. torque motors. In order to solve the problem of a gravity effect we have equipped the first and the second joints with an active gravity compensation mechanism, which consists of an exclusive actuator and a torque sensor. By introducing this mechanism, the manipulator can hold up to a 5 Kg load.

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M3 - Paper

AN - SCOPUS:0022280261

SP - 447

EP - 454

ER -

DEVELOPMENT OF DIRECT-DRIVE HUMAN-LIKE MANIPULATOR.

Abstract

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