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.
A compact roller-gear pitch-yaw joint module: Design and control issues
1993-05-01
Conference paper
No indication
English
A Compact Roller-Gear Pitch-Yaw Joint Module: Design and Control Issues
British Library Conference Proceedings | 1993
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