Using a compliant wrist for a teleoperated robot

Seong W. Choi, Yong J. Choi, Seungho Kim

Research output: Contribution to conferencePaper

5 Citations (Scopus)

Abstract

This paper presents the development of a 6 degrees-of-freedom compliant wrist with force/torque sensor capability that can be used to simultaneously control the displacements and forces. The compliant wrist/sensor has the geometry of 6-6 type Stewart platform using six linear springs and encoders. Based on the kinestatic control theory, some experiments of the kinestatic control of a robot have been performed and the results have been presented. The experimental results demonstrates that the simple compliant wrist/sensor can be utilized for a complicated robot's tasks which require a contact with an environment. It is also proposed that the wrist/sensor be used in a teleoperating robotic system with a force-reflecting hand-controller in order to provide an operator with more practical kinesthetic information.

Original languageEnglish
Pages585-589
Number of pages5
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Choi, S. W., Choi, Y. J., & Kim, S. (1999). Using a compliant wrist for a teleoperated robot. 585-589. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .