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System preservation of a cooperative manipulator system
Author(s) -
Kawabata Kuniaki,
Kobayashi Hisato
Publication year - 1997
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/(sici)1520-6416(19971115)121:2<47::aid-eej6>3.0.co;2-t
Subject(s) - connection (principal bundle) , limiter , control theory (sociology) , manipulator (device) , torque , robot manipulator , control engineering , band stop filter , computer science , mechanical system , filter (signal processing) , engineering , robot , mechanical engineering , physics , low pass filter , artificial intelligence , telecommunications , control (management) , electrical engineering , thermodynamics
This paper proposes a method of maintaining the stability of robotic manipulators with network connection which are doing cooperative tasks. Such robotic manipulator systems have many possibilities, but they sometimes fall into unstable states due to double connection, that is, mechanical and informational connection. To avoid such unstable oscillations, the proposed method utilizes a kind of torque limiter and a notch filter. © 1997 Scripta Technica, Inc Electr Eng Jpn, 121(2): 47–53, 1997