Adaptive motion control of a robotic arm with movable counterweights

Akihiro Kawamura, Tomoaki Hisatsune, Kento Matsusaka, Mitsunori Uemura, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a new robotic arm which has active movable counterweights as an actuator in addition to motor drives. The active counterweights reduce gravity effect of cantilever structure adaptively by movement of counterweights. Additionally, the counterweight has offset angle between links and movement axis of the counterweight. This structure makes it possible to regulate joint angles not using joint motors but only using gravity of the counterweights. Using the two features, gear reduction ratio of motors decreases and base unit becomes light and small. Consequently, the robotic arm has flexibility and is suitable for narrow and high altitude environment such as on vehicles. It is however difficult to control the robot precisely due to the effects of physical parameter errors and friction. Therefore, an adaptive control method of this new robotic arm is proposed. The usefulness of the method is demonstrated by experiments using a prototype.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages882-887
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: Jul 8 2014Jul 11 2014

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period7/8/147/11/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kawamura, A., Hisatsune, T., Matsusaka, K., Uemura, M., & Kawamura, S. (2014). Adaptive motion control of a robotic arm with movable counterweights. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 882-887). [6878191] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878191