Impedance control of a single shaft-type clutch using homogeneous electrorheological fluid

Journal of Intelligent Material Systems and Structures

Volumn 13, Issue 7-8, 2002, Pages 465-469

  Nakamura, Taro ^a   Saga, Norihiko ^a   Nakazawa, Masaru ^b  

^a AKITA PREFECTURAL UNIVERSITY   (Japan)

^b SHINSHU UNIVERSITY   (Japan)

Author keywords

Clutch; Homogeneous ER fluid; Impedance control; PI control; Robot arm; Semi active mechanism; Variable viscous control

Indexed keywords

ELECTRIC CLUTCHES; ELECTRIC FIELDS; ELECTRIC IMPEDANCE; FORCE CONTROL; SHAFTS (MACHINE COMPONENTS); TWO TERM CONTROL SYSTEMS;

ELECTRORHEOLOGICAL CLUTCH; ELECTRORHEOLOGICAL FLUID; IMPEDANCE CONTROL; ROBOT ARM; VISCOUS CONTROL;

INTELLIGENT MATERIALS;

EID: 0041346438     PISSN: 1045389X     EISSN: None     Source Type: Journal    
DOI: 10.1106/104538902029068     Document Type: Article

References (7)

1. Hogan, N. 1987. "Stable Execution of Contact Tasks Using Impedance Control," IEEE International Conference Robots and Manipulators, 2:1047-1054.
2. Satoh, N., Hayashi, S., Hayase, T. and Iimura, I. 1999. "Vehicle Vibration Control Using Hydraulic Semi-Active Damper," Transaction of The Japan Hydraulics & Pneumatics Society, 30:10-19.
3. Ikeura, R. and Inooka, H. 1995. "Variable Impedance Control of a Robot for Cooperation with Human." In: Proceedings of IEEE International Conference on Robotics and Automation, 3: 3097-3102.
4. Inoue, A. and Misawa, S. 1995. "Electrorheological Effect of Liquid Crystalline Polymers," Journal of Applied Polymer Science, 55:113-118.
5. Takesue, N., Zhang, G., Furusho, J. and Sakaguchi, M. 1999. "Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid," Journal of Intelligent Material Systems and Structures, 10:728-731.
6. Nakamura, T., Saga, N. and Nakazawa, M. 2001. "Study on Temperature Characteristics of a Homogeneous ER Clutch," Trans. IEE Japan, 121-D(12):1243-1249 (in Japanese).
7. Saga, N., Nakamura, T. and Nakazawa, M. 2001. "Development and Evaluation of One-Shaft Type ER Clutch," J. of Robotics and Mechatronics, 13(4):534-539.