Compliance of a Robotic Finger Joint

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1991
Accession Number
ADA245226

Entities

People

  • Yavuz Turkgenci

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Amplifiers
  • Armatures
  • Closed Loop Systems
  • Computer Simulations
  • Control Systems
  • Dc Motors
  • Electric Motors
  • Experimental Data
  • Feedback
  • Joints (Anatomy)
  • Measurement
  • Robots
  • Servoamplifiers
  • Servomechanisms
  • Simulations
  • Standards
  • Strain Gages

Readers

  • Fault Tolerant Diagnosis of Black and White Balloon Isolation Tests Using ¥.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control