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Precise position control of robot arms using a homogeneous ER fluid

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4 Author(s)
Takesue, N. ; Graduate Sch. of Eng., Osaka Univ., Japan ; Zhang, G. ; Furusho, J. ; Sakaguchi, M.

A semiclosed-loop control which utilizes the signal of an encoder mounted on a servomotor is adopted in the control of industrial robots. In this method, the position of the end-effector is not controlled very accurately. Therefore, we aim to apply a closed-loop control which uses the positional signal measured directly at the end-effector. Because of the flexibility of the driving system, however, it is very difficult to control the arm based on this method. In this study, a robot arm is developed which has a variable damper using an electrorheological fluid (ER fluid). It is shown that the ER damper is very effective for precise position control based on a closed-loop control method

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:3 )

Date of Conference:

16-20 May 1998