TY - GEN
T1 - Improved manipulation efficiency using a serial-type dual actuator unit
AU - Kim, Byeong Sang
AU - Park, Jung Jun
AU - Song, Jae Bok
PY - 2007
Y1 - 2007
N2 - Service robots are often required to be able to perform both the position control and force control for various tasks. In addition, service robots should cope with collision safety to prevent possible damage to humans and environments during unintended collision. To this end, several redundant actuation systems have been proposed. In this research, the Dual Actuator Unit (DAU) was developed to improve the manipulation efficiency by maximizing the velocity or payload depending on various situations. The DAU is composed of two actuators connected in series through a planetary gear train and a cam-based clutch system. In this paper, the characteristics of the DAU having three operating modes - dual actuation mode, high speed mode and high torque mode - are discussed. Various experiments show that the DAU can carry out the given task flexibly and it can improve the manipulation efficiency.
AB - Service robots are often required to be able to perform both the position control and force control for various tasks. In addition, service robots should cope with collision safety to prevent possible damage to humans and environments during unintended collision. To this end, several redundant actuation systems have been proposed. In this research, the Dual Actuator Unit (DAU) was developed to improve the manipulation efficiency by maximizing the velocity or payload depending on various situations. The DAU is composed of two actuators connected in series through a planetary gear train and a cam-based clutch system. In this paper, the characteristics of the DAU having three operating modes - dual actuation mode, high speed mode and high torque mode - are discussed. Various experiments show that the DAU can carry out the given task flexibly and it can improve the manipulation efficiency.
KW - Dual Actuator Unit (DAU)
KW - Planetary gear train
KW - Position/force control
KW - Redundant actuation
UR - http://www.scopus.com/inward/record.url?scp=48349091472&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406874
DO - 10.1109/ICCAS.2007.4406874
M3 - Conference contribution
AN - SCOPUS:48349091472
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 30
EP - 35
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -