Mechanism and control of robotic arm using rotational counterweights

Akihiro Kawamura, Byunghyun Gang, Mitsunori Uemura, Sadao Kawamura

研究成果: ジャーナルへの寄稿会議記事査読

3 被引用数 (Scopus)

抄録

This paper proposes an actuation mechanism of robotic arms using rotational counterweights. The robotic arm is driven by gravitational and inertia forces of the counterweight mounted on links. The joints of the robotic arms are able to rotate freely though this robot does not have any actuators on joints. Thereby, the robot has high joint flexibility. Additionally, the counterweight system reduces the moment applied to base link caused by gravity effect since the posture of the arm keeps a gravitational equilibrium state statically. Therefore, it is expected that the robotic arm is utilized in narrow and high altitude environment or on small vehicles. This paper also proposes a control method of the new robotic arm. The control method realizes precise position control of joint angle. The usefulness of the method is demonstrated by numerical simulations and experiments using a prototype.

本文言語英語
論文番号7139567
ページ(範囲)2716-2721
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2015-June
June
DOI
出版ステータス出版済み - 6月 29 2015
外部発表はい
イベント2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, 米国
継続期間: 5月 26 20155月 30 2015

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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