Abstract
The target of this research is to develop a redundant actuator control system for a 2-DOF robotic arm. A multi-motor structure with parallel-mounted small-size motors and an ER fluid clutch is implemented to switch between mono-articular and bi-articular actuation control. For propose viscoelastic properties is necessary to verify the multi-motor driving method and optimal placement and ER fluid clutch is the relationship between the applied voltage and vibration suppression. In this report, verification of power-saving features in sequential drive using the multi-motor,confirmed the tendency to reduce the maximum current value.
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