In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which mean robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffness only, as coupling of joint stiffness seems to be mechanically difficult to realize. Finally we discuss a Cartesian controller, which incorporates the compliance of the joints and ensures the correct stiffness behavior also for high displacements from the desired position.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints?


    Beteiligte:

    Kongress:

    2004 ; Sendai, Japan



    Erscheinungsdatum :

    28.09.2004



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Investigations of variable stiffness principles for compliant robotics

    Wei, Ying / 魏瀛 | BASE | 2016

    Freier Zugriff

    How to 3D-Print Compliant Joints with a Selected Stiffness for Cooperative Underactuated Soft Grippers

    Hussain, Irfan / Iqbal, Zubair / Malvezzi, Monica et al. | TIBKAT | 2020


    Cartesian Aerial Manipulator with Compliant Arm

    Suarez, Alejandro / Perez, Manuel / Heredia, Guillermo et al. | BASE | 2021

    Freier Zugriff

    How to 3D-Print Compliant Joints with a Selected Stiffness for Cooperative Underactuated Soft Grippers

    Hussain, Irfan / Iqbal, Zubair / Malvezzi, Monica et al. | Springer Verlag | 2020


    Aspects of non-cartesian robotics

    Gomi, T. | British Library Online Contents | 1997