Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.


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    Title :

    A compact roller-gear pitch-yaw joint module: Design and control issues


    Contributors:


    Publication date :

    1993-05-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    A Compact Roller-Gear Pitch-Yaw Joint Module: Design and Control Issues

    Dohring, M. E. / Newman, W. S. / Anderson, W. J. et al. | British Library Conference Proceedings | 1993


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