Name
Abstract | ||
|---|---|---|
A fast, lightweight, active end-effector, which can be attached to the endpoint of a commercial robot manipulator, has been designed and built using an impedance-control method. This control method causes the end-effector to behave dynamically as a two-dimensional remote center compliance (RCC). The compliancy is in this active end-effector is electronic and can be modulated by an online computer. The device is planar and five-bar linkage, and is driven by two direct-drive, brushless DC motors. A two-dimensional, piezoelectric force cell on the endpoint of the device, two 12-bit encoders, and two tachometers on the motors form the measurement system. The high structural stiffness and light weight of the material used in the system allow for a 15-Hz-bandwidth impedance control.<
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Year | DOI | Venue |
|---|---|---|
1988 | 10.1109/56.793 | IEEE JOURNAL OF ROBOTICS AND AUTOMATION |
Keywords | DocType | Volume |
dc motors,frequency,transfer functions,bandwidth,measurement system,impedance,dc motor,robot kinematics | Journal | 4 |
Issue | ISSN | Citations |
3 | 0882-4967 | 8 |
PageRank | References | Authors |
3.14 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| H. Kazerooni | 1 | 766 | 314.26 |
| Jong-Shenq Guo | 2 | 12 | 5.56 |