TY - GEN
T1 - Design and control of a compliant parallel manipulator for a mobile platform
AU - Sugar, Thomas
AU - Kumar, Vijay
N1 - Publisher Copyright:
© 1998 by ASME.
PY - 1998
Y1 - 1998
N2 - We describe a novel design for a compliant arm that can be mounted on a mobile robot. The main features of the arm are the in-parallel architecture of the arm and a novel control scheme that allows us to easily control the Cartesian stiness or impedance in the plane. Because the arm is compliant, a mobile robot can manipu- late or interact with objects that are not precisely positioned in the environment. Further, a mobile robot equipped with such an arm can cooperate with other mobile robots in manipula- tion tasks. For example, two such arms can hold an object in a stable grasp by applying and maintaining appropriate contact forces with the appropriate stiness. We present experimental results that show the performance of the compliant arm and the use of the arm while two platforms cooperate in a manipulation task.
AB - We describe a novel design for a compliant arm that can be mounted on a mobile robot. The main features of the arm are the in-parallel architecture of the arm and a novel control scheme that allows us to easily control the Cartesian stiness or impedance in the plane. Because the arm is compliant, a mobile robot can manipu- late or interact with objects that are not precisely positioned in the environment. Further, a mobile robot equipped with such an arm can cooperate with other mobile robots in manipula- tion tasks. For example, two such arms can hold an object in a stable grasp by applying and maintaining appropriate contact forces with the appropriate stiness. We present experimental results that show the performance of the compliant arm and the use of the arm while two platforms cooperate in a manipulation task.
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U2 - 10.1115/DETC98/MECH-5863
DO - 10.1115/DETC98/MECH-5863
M3 - Conference contribution
AN - SCOPUS:84926053855
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 25th Biennial Mechanisms Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1998 Design Engineering Technical Conferences, DETC 1998
Y2 - 13 September 1998 through 16 September 1998
ER -