NDLI: Mechanism design and control of dynamically-coupled driving based manipulator

Content Provider	IEEE Xplore Digital Library
Author	Aiguo Ming Chunquan Xu Maruyama, T. Shimojo, M. Kajitani, M.
Copyright Year	2003
Description	Author affiliation: Univ. of Electro-Commun., Tokyo, Japan (Aiguo Ming; Chunquan Xu; Maruyama, T.; Shimojo, M.; Kajitani, M.)
Abstract	Usually the dynamic capability of conventional manipulators is limited by heavy structure. Different from those manipulators, human can do many hyper dynamic manipulations while in a smart structure by utilizing dynamically-coupled driving between body and arms. Aiming at improving the dynamic capability of a manipulator in a large extent, a basic concept and general method on the mechanism design and control of the manipulator is proposed, just to simulate the action of human utilizing the dynamically-coupled driving. Furthermore, using joint stop in a manipulator is enhancing the effect of dynamically-coupled driving. To show the feasibility of the proposal, a hyper dynamic manipulator has been fabricated and fundamental experiments have been carried out. Experimental results have shown the important role of the dynamically-coupled driving, to realize an efficient hyper dynamic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.
Sponsorship	Chinese High-tech Development Program Chinese Academy of Sci. Chinese Soc. of Automation IEEE Systems, Man and Cybernetics Soc
Starting Page	1
Ending Page	6
File Size	432094
Page Count	6
File Format	PDF
ISBN	078037925X
DOI	10.1109/RISSP.2003.1285539
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Humans Intelligent actuators Prototypes Intelligent structures Proposals Acceleration Arm Joints Manipulator dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Dynamic Performance Enhancement Design of Robot Based on Dynamically-Coupled Driving and Joint Stop

Motion control of golf swing robot based on dynamically coupled driving

Development of a hyper dynamic manipulator utilizing joint stops

A proposal for utilizing structural joint stop in a manipulator

Optimal design of dynamic balancing for the redundant orientation mechanism of a master manipulator

Extended manipulability measure and application for robot arm equipped with bi-articular driving mechanism

Control of robot using coupled torque between joints

Control of a new golf swing robot with considering hitting a ball

New design concept of space manipulator: a proposal of Torque-unit Manipulator

Mechanism design and control of dynamically-coupled driving based manipulator

Similar Documents

Dynamic Performance Enhancement Design of Robot Based on Dynamically-Coupled Driving and Joint Stop

Motion control of golf swing robot based on dynamically coupled driving

Development of a hyper dynamic manipulator utilizing joint stops

A proposal for utilizing structural joint stop in a manipulator

Optimal design of dynamic balancing for the redundant orientation mechanism of a master manipulator

Extended manipulability measure and application for robot arm equipped with bi-articular driving mechanism

Control of robot using coupled torque between joints

Control of a new golf swing robot with considering hitting a ball

New design concept of space manipulator: a proposal of Torque-unit Manipulator

Mechanism design and control of dynamically-coupled driving based manipulator