This paper addresses the stability of macro-mini robotic systems in a context of physical human-robot interaction (pHRI). A simple model including a one-degree-of-freedom (one-dof) macro robot and a one-dof mini robot is investigated using a state-space representation in order to assess the controllability and stability of the system. The conclusions of the analysis can be used in the design of multi-dof macro-mini systems. An example of a 12-dof macro-mini system is briefly described to illustrate potential applications.
On the Stability of Macro-Mini Robotic Systems for Physical Human-Robot Interaction
CISM Courses and Lectures
Symposium on Robot Design, Dynamics and Control ; 2022 ; Udine, Italy July 04, 2022 - July 07, 2022
2022-06-23
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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