Development and evaluation of seven DOF MIA ARM

摘要

This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven DOF MIA ARM) which consists of shoulder, elbow and wrist. This paper also describes a dynamic model of multiple-DOF MIA and an experimental evaluation of the seven DOF MIA ARM by means of trajectory control. The experimental results show that the seven DOF MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.