Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique

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	Similar Articles Articles by Dzmitry Tsetserukou Articles by Riichiro Tadakuma Articles by Hiroyuki Kajimoto Articles by Naoki Kawakami

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)

Tsukuba, Japan

March 22-March 24

ISBN: 0-7695-2738-8

	ASCII Text	x
	Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, "Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique," World Haptics Conference, pp. 476-481, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007.

	BibTex	x
	@article{ 10.1109/WHC.2007.39, author = {Dzmitry Tsetserukou and Riichiro Tadakuma and Hiroyuki Kajimoto and Naoki Kawakami}, title = {Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique}, journal ={World Haptics Conference}, volume = {0}, year = {2007}, isbn = {0-7695-2738-8}, pages = {476-481}, doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2007.39}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - World Haptics Conference TI - Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique SN - 0-7695-2738-8 SP476 EP481 A1 - Dzmitry Tsetserukou, A1 - Riichiro Tadakuma, A1 - Hiroyuki Kajimoto, A1 - Naoki Kawakami, PY - 2007 KW - null VL - 0 JA - World Haptics Conference ER -

Dzmitry Tsetserukou, University of Tokyo

Riichiro Tadakuma, University of Tokyo

Hiroyuki Kajimoto, University of Electro-Communications, Japan

Naoki Kawakami, University of Tokyo

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/WHC.2007.39

In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the contact of arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The gravity compensation algorithm was elaborated and verified by implementation of the local impedance control of a simple two-link arm manipulator.

Citation:

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, "Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique," whc, pp.476-481, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007

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