Flexibility setting method and flexibility control device for mu

Details Flexibility setting method and flexibility control device for mu Flexibility setting method and flexibility control device for mu

1996-02-16

1999-06-22

Downs, Robert W.

G06F 1518

Patent

active

059150734

ABSTRACT:
A method for setting the flexibility of a manipulator includes the step of extracting characteristics of the flexibility such as elasticity from a measurement result of the flexibility of a human hand. The extracted characteristics are used for determining specifications for the flexibility of the hand of the manipulator. The specifications of the flexibility of the entire hand of the manipulator are converted into specifications of the flexibility of a joint of the manipulator for setting the flexibility of the joint of the manipulator.

REFERENCES:
patent: 5502363 (1996-03-01), Tasch et al.
Craig, "Introduction to Robotics: Mechanics and Control," Addison-Wesley Publishing Co., Chapters 4 & 6 and pp. 129-130, Dec. 31, 1986.
Toshio Tsuji, et al., Iterative Learning of Impedance Parameters for Manipulator Control Using Neural Networks, 1992, pp. 1461-1468.
Luo Zhi-Wei, et al., On Control Design for Robot Compliant Manipulation, 1990, pp. 427-434.
F. A. Mussa-Ivaldi, et al., "Neural, Mechanical, and Geometric Factors Subserving Arm Posture in Humans", The Journal of Neuroscience, vol. 5, No. 10, pp. 2732-2743, Oct. 1985.

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