Improved manipulation efficiency using a serial-type dual actuator unit

Byeong Sang Kim, Jung Jun Park, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages30-35
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: 2007 Oct 172007 Oct 20

Publication series

NameICCAS 2007 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CountryKorea, Republic of
CitySeoul
Period07/10/1707/10/20

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Keywords

  • Dual Actuator Unit (DAU)
  • Planetary gear train
  • Position/force control
  • Redundant actuation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, B. S., Park, J. J., & Song, J. B. (2007). Improved manipulation efficiency using a serial-type dual actuator unit. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 30-35). [4406874] (ICCAS 2007 - International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2007.4406874