Application of suspension mechanisms for low powered robot tasks

被引：4
|
作者：
Uddin, MF
Nasu, Y
Mitobe, K
Yamada, K
机构：
[1] Yamagata Univ, Dept Syst & Informat Engn, Yonezawa, Yamagata 9928510, Japan
[2] Yamagata Univ, Dept Mech Syst Engn, Yonezawa, Yamagata 9928510, Japan
[3] Yamagata Univ, Dept Elect & Informat Engn, Yonezawa, Yamagata 9928510, Japan
来源：
INDUSTRIAL ROBOT | 2000年 / 27卷 / 03期
关键词：
robots; control;
D O I：
10.1108/01439910010323978
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Presents the manipulation methods of a low powered direct-drive robot-arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in the horizontal plane. Presents the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane. To manipulate the suspended robot-arm vertically, the hybrid position/force dynamic model has been developed by considering the gravity compensation of the spring balancer. In order to show the possible industrial applications chamfering operations have been carried out. Simulations and experiments demonstrate the feasibility of the proposed systems.
引用
收藏
页码：206 / 216
页数：11
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