NDLI: A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications

Content Provider	IEEE Xplore Digital Library
Author	Byeong-Sang Kim Jae-Bok Song Jung-Jun Park
Copyright Year	1996
Abstract	Control of a robot manipulator in contact with the environment is usually conducted by a direct feedback control system using a force-torque sensor or an indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. To cope with such problems, this paper proposes a novel design of a dual actuator unit (DAU) composed of two actuators and a planetary gear train to provide the capability of simultaneous control of position and stiffness. Since one actuator controls position and the other actuator modulates stiffness, the DAU can control the position and stiffness simultaneously at the same joint. Both the torque exerted on the joint and the stiffness of the environment can be estimated without an expensive force sensor. Various experiments demonstrate that the DAU can provide good performance for position tracking, force estimation, and environment estimation.
Starting Page	108
Ending Page	116
Page Count	9
File Size	1064906
File Format	PDF
ISSN	10834435
Volume Number	15
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Gears Force control Force sensors Control systems Robot control Robot sensing systems Manipulators Feedback control Sensor systems variable impedance approach (VIA) Environment estimation force estimation planetary gear train redundant actuation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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