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16

IROS
2008
IEEE

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Development of force control device with high power and high resolution

13 years 10 months ago

Development of force control device with high power and high resolution

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— A force control device with high power and high resolution is developed. It consists of a spring and a small force actuator which are connected in parallel between the base plate and the output plate. By installing this device into a tip of a high power industrial robot, large forces with high resolution can be achieved under the existence of static friction. In this paper, the principle of force control device is verified by using a simple two d.o.f. experimental setup. From experimental results, the effectiveness of the developed control device and its control algorithm is verified.

Hisashi Osumi, Takahiro Tomiyama

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Control Device | Force Control Device | IROS 2008 | Robotics | Small Force Actuator |

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Added	31 May 2010
Updated	31 May 2010
Type	Conference
Year	2008
Where	IROS
Authors	Hisashi Osumi, Takahiro Tomiyama

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