When a manipulator is handled with human force, it is necessary to reduce reaction force caused by inertia, friction, gravity, etc. This paper describes an active power assistance system for a direct-drive manipulator, which assists handling force with motor, and force detection system for that purpose. This method detect handling force by combination of motor-torque detection with motor-current and rotation detection with internal sensors (tacho-generator etc.). It does not need special force sensors. Some configurations of power assistance system are also shown. Effectiveness of the proposed method is demonstrated by feasibility experiments.
雑誌名
日本ロボット学会誌
巻
4
号
3
ページ
209 - 219
発行年
1986-06
ISSN
02891824
書誌レコードID
AN00141189
フォーマット
application/pdf
日本十進分類法
548.3
出版者
日本ロボット学会
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直接駆動マニピュレータの人力操作における操作力検出と能動的力補助
0403B003.pdf
(647.17KB)
