TY - JOUR
T1 - Dexterous motion design for a DD parallel robot
AU - Uchiyama, Masaru
AU - Sato, Daisuke
PY - 2005/12/1
Y1 - 2005/12/1
N2 - This paper deals with design of a dexterous motion for a robot consisting of a six degrees-of-freedom (DOF) closed kinematic chain, and driven by direct-drive (DD) motors. The robot can move very fast and, therefore, the motion is not only dexterous but also very fast. The paper considers, first, a set of control modes that are necessary and sufficient for the implementation of the dexterous motion. Then, a control program is designed for the implementation of the control modes, in which exploitation of the motor back-drivability and compensation of the motor friction, plays a key role. The paper also discusses a teaching program, based upon which an off-line teaching system has been implemented; dexterous tasks such as peg-insertion and side-matching, which are very fast, have been taught by the system successfully.
AB - This paper deals with design of a dexterous motion for a robot consisting of a six degrees-of-freedom (DOF) closed kinematic chain, and driven by direct-drive (DD) motors. The robot can move very fast and, therefore, the motion is not only dexterous but also very fast. The paper considers, first, a set of control modes that are necessary and sufficient for the implementation of the dexterous motion. Then, a control program is designed for the implementation of the control modes, in which exploitation of the motor back-drivability and compensation of the motor friction, plays a key role. The paper also discusses a teaching program, based upon which an off-line teaching system has been implemented; dexterous tasks such as peg-insertion and side-matching, which are very fast, have been taught by the system successfully.
UR - http://www.scopus.com/inward/record.url?scp=84885067695&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885067695&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:84885067695
VL - 15
SP - 26
EP - 35
JO - Springer Tracts in Advanced Robotics
JF - Springer Tracts in Advanced Robotics
SN - 1610-7438
ER -