Compliance of a robotic finger joint
Driels, Morris R.
MetadataShow full item record
Adaptive compliance control of a robotic single joint was studied to control the amount of torque applied on an object by an end effector, which is actuated by an electric motor through a gearbox. For this reason, an adaptive control system was designed. Variation in stiffness and compliance was observed by simulating the system with MATRIX package program. After observing theoretical variation of the stiffness and the compliance, experiments were done to observe and prove the stiffness control theory. The proved theory was then applied to a prototype robotic finger joint actuated by a small DC motor.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
R.H. Downey; L.N. Brewer; G. Karunasiri (Elsevier, 2013);We use a nanoindenter to measure the stiffness of mechanical components of a microelectromechanical directional sound sensor. The results validate analytical and numerical linear elastic models, identify the physical ...
Driels, Morris (1994-01);The work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when ...
Dolloff, Katherine M. (Monterey, California. Naval Postgraduate School, 2003-03);The objective of this study was to develop an analytical model of the basic hierarchical structure of the human bone. The model computed the stiffness of composite collagen fibers comprised of collagen fibrils and ...