Application of suspension mechanisms for low powered robot tasks
Abstract
Presents the manipulation methods of a low powered direct‐drive robot‐arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in the horizontal plane. Presents the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane. To manipulate the suspended robot‐arm vertically, the hybrid position/force dynamic model has been developed by considering the gravity compensation of the spring balancer. In order to show the possible industrial applications chamfering operations have been carried out. Simulations and experiments demonstrate the feasibility of the proposed systems.
Keywords
Citation
Jashim Uddin, M., Nasu, Y., Mitobe, K. and Yamada, K. (2000), "Application of suspension mechanisms for low powered robot tasks", Industrial Robot, Vol. 27 No. 3, pp. 206-216. https://doi.org/10.1108/01439910010323978
Publisher
:MCB UP Ltd
Copyright © 2000, MCB UP Limited