Summary
This paper describes the development of 7 degrees of freedom anthropomorphic manipulator (WAM-9) with mobile mechanism for the wide range of constraint work.
This study proposes the utilization method of the redundancy of the arm to realize arbitrary compliance at the end point of the manipulator.
To evaluate this control method, a 7-DOF anthropomorphic manipulator WAM-9 with mobile mechanism has been developed.
The joint actuator is of the direct drive type supported by a megatorque motor. To achieve a high-speed computation for control, hierarchical and parallel processing structured microcomputer system has been developed. Transputer system is used as this microcomputer system.
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© 1989 Springer-Verlag Berlin Heidelberg
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Sugano, S., Hatase, T., Kaneko, M., Kato, I. (1989). Joint Compliance Control of the Anthropomorphic Manipulator. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_40
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DOI: https://doi.org/10.1007/978-3-642-83957-3_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83959-7
Online ISBN: 978-3-642-83957-3
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