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

^*此作品的通讯作者

Japan Ministry of Economy, Trade and Industry

科研成果: 会议稿件 › 论文 › 同行评审

7 引用（Scopus）

摘要

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.

源语言	英语
页	447-454
页数	8
出版状态	已出版 - 1985
已对外发布	是

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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.",

author = "Tatsuo Arai and Eiji Nakano and Tomoaki Yano and Ryoichi Hashimoto and Ichiro Takeyama",

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T1 - DEVELOPMENT OF DIRECT-DRIVE HUMAN-LIKE MANIPULATOR.

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.

摘要

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