By Topic

Direct-drive, active compliant end-effector (active RCC)

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kazerooni, H. ; University of Minnesota, Minneapolis, MN, USA ; Guo, J.

The design and construction of a fast, light-weight, active end-effector which can be attached to the end-point of a commercial, robot manipulator is presented here. Electronic compliancy (Impedance Control) [11] has been developed on this device The end-effector behaves dynamically as a two-dimensional, Remote Center Compliance (RCC). The compliancy in this active end-effector is developed electronically and can therefore be modulated by an on-line computer. The device is a planar, five-bar linkage which is driven by two direct drive, brush-less DC motors. A two-dimensional, piezoelectric force cell on the end-point of the device, two 12-bit encoders, and two tachometers on the motors form the measurement system For this device. The high structural stiffness and light weight of the material used in the system allows For a 25 Hertz bandwidth Impedance Control.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987