力矩单元机械手的实验研究

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.649004

K. Yoshida, K. Osuka, T. Nakano, T. Ono

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引用次数: 5

摘要

提出了一种新的机械手设计概念，即力矩单元机械手。TUM正是从利用反转矩的思想中诞生的，它的位置可控性已经在理论上得到了证明。因此，机械实现和实验检验对TUM的实际应用至关重要。本文用一个2自由度的原型TUM给出了实验结果，并进行了讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Experimental research of a torque-unit manipulator

A new design concept of a manipulator is proposed, which is called torque-unit manipulator (TUM). The TUM was just born out of an idea of utilizing counter-torque, and its position-controllability has been shown theoretically. Hence, mechanical implementation and experimental examination are very important for the TUM to be in practical use. In this paper, experimental results are shown using a prototype TUM which is 2 degree-of-freedom and a discussion is given.

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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