Joint Compliance Control of the Anthropomorphic Manipulator
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.
KeywordsForce Control Joint Actuator Mobile Mechanism Compliance Control Joint Compliance
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