Abstract
This paper presents the development of a 6 degrees-of-freedom compliant wrist with force/torque sensor capability that can be used to simultaneously control the displacements and forces. The compliant wrist/sensor has the geometry of 6-6 type Stewart platform using six linear springs and encoders. Based on the kinestatic control theory, some experiments of the kinestatic control of a robot have been performed and the results have been presented. The experimental results demonstrates that the simple compliant wrist/sensor can be utilized for a complicated robot's tasks which require a contact with an environment. It is also proposed that the wrist/sensor be used in a teleoperating robotic system with a force-reflecting hand-controller in order to provide an operator with more practical kinesthetic information.
| Original language | English |
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| Pages | 585-589 |
| Number of pages | 5 |
| Publication status | Published - 1999 |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
|---|---|
| City | Kyongju, South Korea |
| Period | 99/10/17 → 99/10/21 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications