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Modeling of magneto rheological fluid actuator enabling safe human-robot interaction
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-5925-1379
2008 (English)In: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, 974-979 p.Conference paper, Published paper (Refereed)
Abstract [en]

Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

Place, publisher, year, edition, pages
2008. 974-979 p.
National Category
Engineering and Technology Control Engineering Computer Science
Research subject
Automatic Control; Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-7866DOI: 10.1109/ETFA.2008.4638512ISBN: 978-1-4244-1505-2 (print)OAI: oai:DiVA.org:oru-7866DiVA: diva2:234589
Conference
13th IEEE Int. Conference on Emerging Technologies and Factory Automation, ETFA'2008, Hamburg, Germany
Available from: 2009-09-09 Created: 2009-09-09 Last updated: 2017-10-18Bibliographically approved

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