A new actuation system for high-performance torque-controlled manipulators
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TL;DR
The paper discusses the design of the actuator-transmission-sensor system, describes the joint torque feedback controller, and presents experimental results obtained with a prototype of the wrist mechanism of ARTISAN.
Abstract
The work reported in this paper is a part of a larger effort concerned with the design and development of a high-performance force controlled, ten degree-of-freedom manipulator and mini-manipulator system, ARTISAN, currently under construction at Stanford University (Khatib, Roth and Waldron 1991). The paper focuses on the new actuation system developed for this robot. It discusses the design of the actuator-transmission-sensor system, describes the joint torque feedback controller, and presents experimental results obtained with a prototype of the wrist mechanism of ARTISAN.