Professor, Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology
Title of speech:
and Flexibility Control of Redundant Robots with Elastic Elements
In order to utilize robots in human daily life, the robots should have redundant degrees-of-freedom and should generate complicated and flexible motions. Therefore novel multi-loop link mechanisms with redundancy and flexibility should be developed. The methods to analyze, synthesize and control the mechanisms are theoretically and experimentally explained in this keynote speech. Then, the structure of the multi-loop link mechanisms with elastic elements and their motion analysis can be formulated. Then, the procedures to synthesize the mechanisms are theoretically shown. At first the motion control of the over constraint planar mechanisms can be formulated. Then the output stiffness of then mechanisms can be controlled as the output control signals. Then the control scheme to generate the desired output nonlinear flexibility of the output links can be formulated and experimentally examined.
Professor Nobuyuki Iwatsuki received his B. of
Eng., M. of Eng. and Dr. of Eng in Mechanical
Engineering from Tokyo Institute of Technology, Japan, in 1982, 1984 and 1987,
respectively. He joined Precision and Intelligent Laboratory, Tokyo Institute
of Technology, Japan as a Research Associate in 1987. In 1995 he was promoted
as an Associate Professor of Dept. of Mechanical and Intelligent Systems
Engineering, Tokyo Institute of Technology, Japan. He stayed at The Ohio State
University and The Stanford University, USA as a visiting scholar in 1999. He
is currently a Professor of Dept. of Mechanical Sciences and Engineering, Tokyo
Institute of Technology, Japan. His researches are focused on the synthesis and
control of hyper redundant robots, the development of micro actuators in group
and the intelligent laser interferometry.