A new control method utilizing stiffness adjustment of mechanical elastic elements for serial link systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 1437-1442

  Uemura, Mitsunori ^a   Kanaoka, Katsuya ^a   Kawamura, Sadao ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Power assist system; Resonance; Robot dynamics

Indexed keywords

MECHANICAL ELASTIC ELEMENTS; POWER ASSIST SYSTEMS; ROBOT DYNAMICS; SERIAL LINK SYSTEMS;

ACTUATORS; LINEAR SYSTEMS; MOTION ESTIMATION; NONLINEAR ANALYSIS; RESONANCE; TRACKING (POSITION);

CONTROL SYSTEM ANALYSIS;

EID: 36348991977     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363186     Document Type: Conference Paper

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