NDLI: Development and evaluation of seven DOF MIA ARM

Content Provider	IEEE Xplore Digital Library
Author	Morita, T. Sugano, S.
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan (Morita, T.)
Abstract	This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven DOF MIA ARM) which consists of shoulder, elbow and wrist. This paper also describes a dynamic model of multiple-DOF MIA and an experimental evaluation of the seven DOF MIA ARM by means of trajectory control. The experimental results show that the seven DOF MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.
Starting Page	462
Ending Page	467
File Size	742586
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620080
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Anthropomorphism Manipulator dynamics Impedance Robot control Force control Safety Shoulder Elbow Wrist Motion control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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