The article discusses a completely new approach to security solutions in robotics. Into the joint is incorporated electro-dynamic resilient member, which mitigates the consequences of a collision. Universal joint was designed and assembled and was simulated into several approaches to management. From the simulation results it is shown that the most appropriate procedure is regulation which combines the torque control and regulation of the deflection of the resilient member. For the position control of the joint is then necessary to take into account the flexibility of the shaft.
Improving the safety of human-robot cooperation with control of joint stiffness
2014
4 Seiten, Bilder, 11 Quellen
Conference paper
English
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