Measurement method for compliance of vertical-multi-articulated robot - Application to 7-DOF robot PA-10

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 2741-2746

  Tsumugiwa, Toru ^a   Yokogawa, Ryuichi ^a   Hara, Kei ^a  

^a DOSHISHA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DEFORMATION; MATHEMATICAL MODELS; MOTION ESTIMATION; POSITION MEASUREMENT; SENSORS; STIFFNESS MATRIX;

FORCE SENSOR; TORQUE SENSOR; VERTICAL MULTI ARTICULATED ROBOT; VIRTUAL JOINTS;

MANIPULATORS;

EID: 0344877169     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

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3. J.C.Hudgens, et al., "A Compliance Parameter Estimation Method for Serial Manipulators", ASME DSC, Vol.29, 1991, pp.15-23
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7. Ken Oonishi,et al., "Producing and the latest development programs of the portable general purpose intelligent arm 'Mitsubishi PA-10'", Advanced Robotics, 15-3, 2001, pp.333-337
8. M.M.Olsen, H.G.Petersen, "A new method for estimating parameters of a dynamic robot model", IEEE Transactions on Robotics and Automation 17-1, 2001, pp.95-100
9. Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara, "Variable Impedance Control with Regard to Working Process for Man-Machine Cooperation-Work System", Proceeding of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, pp.1564-1569
10. Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara, "Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Calligraphic Task", Proceeding of 2002 IEEE International Conference on Robotics and Automation, 2002, pp.644-650