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JRM Vol.12 No.3 pp. 249-253
doi: 10.20965/jrm.2000.p0249
(2000)

Paper:

Development of an Active Worktable and Its Application to Force Control of Robot Manipulators

Shin-ichi Nakajima

Department of Mechanical and Control Engineering, Niigata Institute of Technology, Kashiwazaki, Niigata 945-1195, Japan

Received:
January 25, 2000
Accepted:
March 1, 2000
Published:
June 20, 2000
Keywords:
active worktable, force control, compliant motion task, robot manipalator, direct drive motor
Abstract

An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.

Cite this article as:
Shin-ichi Nakajima, “Development of an Active Worktable and Its Application to Force Control of Robot Manipulators,” J. Robot. Mechatron., Vol.12, No.3, pp. 249-253, 2000.
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