Abstract
The load capacity of a manipulator depends on a load capacity of a low output joint or load capacities of some low output joints of the manipulator. Even if a manipulator could not handle an object because of its load capacity, some of its joints still have enough capabilities for handling of the object. In this paper, we propose a method to handle an object using available joints of the manipulator by introducing virtually unactuated joints. The virtually unactuated joints are controlled so that no load will be applied to the joints. Experiments illustrate the validity of the method proposed in this paper.
| Original language | English |
|---|---|
| Pages (from-to) | 1024-1030 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 69 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Apr 2003 |
| Externally published | Yes |
Bibliographical note
Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].Research Keywords
- Actuated joint
- Actuator
- Heavy object
- Manipulator
- Robot
- Virtually unactuated joint
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