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Dynamic force signal processing system of a robot manipulatorIf dynamic noises such as those caused by the inertia forces of the hand can be eliminated from the signal of the force sensor installed on the wrist of the robot manipulator and if the necessary information of the external force can be detected with high sensitivity and high accuracy, a fine force feedback control for robots used in high speed and various fields will be possible. As the dynamic force sensing system, an external force estimate method with the extended Kalman filter is suggested and simulations and tests for a one axis force were performed. Later a dynamic signal processing system of six axes was composed and tested. The results are presented.
Document ID
19870015267
Acquisition Source
Legacy CDMS
Document Type
Technical Translation (TT)
Authors
Uchiyama, M.
(NASA Headquarters Washington, DC United States)
Kitagaki, K.
(NASA Headquarters Washington, DC United States)
Hakomori, K.
(NASA Headquarters Washington, DC United States)
Date Acquired
September 5, 2013
Publication Date
July 1, 1987
Subject Category
Mechanical Engineering
Report/Patent Number
JS-24-4
NASA-TT-20066
NAS 1.77:20066
Accession Number
87N24700
Funding Number(s)
CONTRACT_GRANT: NASW-4004
Distribution Limits
Public
Copyright
Public Use Permitted.
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