Dynamic compliance control of direct-drive robots with built-in optical torque sensors.

ASADA HARUHIKO; KIM Y-T

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J-GLOBAL ID：200902094850575220 Reference number：89A0346561

Dynamic compliance control of direct-drive robots with built-in optical torque sensors.

光学式トルクセンサーを内蔵したダイレクト・ドライブロボットの動的コンプライアンス制御

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Material：
Volume： 7 Issue： 2 Page： 111-120 Publication year： Apr. 1989
JST Material Number： Y0482A ISSN： 0289-1824 Document type： Article
Article type：原著論文 Country of issue： Japan (JPN) Language： JAPANESE (JA)

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ロボット工学一般【’81~’92】

Reference (12)：

1) Whitney, D. E.: “Force feedback control of manipulator fine motions”, Transaction of ASME Journal of Dynamic System, Measurment and Control, pp. 91-97, June 1977.
2) Raibert, M. H. and Craig, J. J.: “Hybrid Position/Force Control of Manipulators”, Transaction of A SME Journal of Dynamic System, Measurment and Control, Vol.102, pp. 126-133, June 1981.
3) Mason, M. T.: “Compliance and force control for computer controlled manipulators”, IEEE Trans. Syst. Man, Cybern., Vol. SMC-11, No.1, pp. 418-432, 1981.
4) 末広, 高瀬: “直接計算方式による作業座標サーボに基づくマニピュレーションシステム”, 日本ロボット学会誌, Vol. 3-2, pp. 11-21, 1985.
5) Hogan, H.: “Impedance control : An approach to manipulator : Part I-III”, Transaction of ASME Journal of Dynamic System, Measurement and Control, Vol.107, pp. 1-24, March, 1985.

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