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There is a rising interest in biologically inspired manipulators equipped with biarticular actuators—actuators that span two joints—for solving the known limitations of conventional systems. In contrast with kinematic redundancy, actuator redundancy resulting from the presence of biarticular actuators has the added advantages of bringing more stability, reducing the inertia of the robot links, and...
This paper presents new manipulability measures to evaluate how much easily the robot manipulates the grasped object, simultaneously taking how much magnitude of joint torque we need to keep grasping into consideration. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between...
Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics. Nevertheless, lightweight mechanism are fragile and unfortunately their control software can not protect them during the very first instant of an impact. Compliant mechanisms...
Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information...
This paper presents and evaluates a new technique for the calibration and compensation of static error of force/torque (F/T) sensors. The presented approach is based on a learning algorithm. A Modified Nearest Neighbor algorithm is presented to compensate non-linear errors, produced by the weight of the end effector or by the internal offset of a wrist mounted F/T sensor of a 6 degree of freedom (DOF)...
This paper proposes a new control scheme which simultaneously regulates and tracks the force, torque, position, and orientation of the end effector of a robot manipulator along a constrained surface. A general model for constrained surfaces is derived. A general control structure using information from both the joint encoders and a force/torque sensor attached to the wrist is presented. From these...
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