Development of an Active Worktable and Its Application to Force Control of Robot Manipulators | Zendy

Shinichi Nakajima | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Development of an Active Worktable and Its Application to Force Control of Robot Manipulators

Author(s) -

Shinichi Nakajima

Publication year - 2000

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2000.p0249

Subject(s) - impedance control , stiffness , robot , control theory (sociology) , position (finance) , manipulator (device) , motion control , control engineering , computer science , control (management) , degrees of freedom (physics and chemistry) , engineering , artificial intelligence , physics , structural engineering , finance , quantum mechanics , economics

An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research