The IMI direct drive planar manipulator was built
to serve the research community by providing a means of verifying
torque-level control strategies.
Consists of the base and elbow links which are actuated by NSK
Megatorque motors RS1410 and RS0608, respectively.
Original hardware has been modified to provide a testbed for
Makes use of a Pentium Pro 266MHz running QNX real-time
operating system, two NSK torque controlled amplifiers, and two IMI
DS-2 encoder interface boards utilized in conjunction with two NSK
resolver/encoders to measure actuator position (In the
flexible-joint configuration two Gurley encoders measure the
difference between motor and link positions).
Below is a picture of the Flexible Joint Robot:
Visit the research
section of our site to find out more about the present research
with flexible joint IMI 2-Link Arm