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Safe robot with reconfigurable compliance/stiffness actuation
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-5925-1379
Örebro University, School of Science and Technology. (AASS)
2009 (English)In: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, 633-638 p.Conference paper, (Refereed)
Abstract [en]

Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control 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 a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

Place, publisher, year, edition, pages
IEEE, 2009. 633-638 p.
National Category
Control Engineering
Research subject
Automatic Control; Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-7863ISBN: 978-88-89007-37-2 (print)OAI: oai:DiVA.org:oru-7863DiVA: diva2:234583
Conference
International Conference on Reconfigurable Mechanisms and Robots, Kings Coll London, London, Jun 22-24
Available from: 2009-09-09 Created: 2009-09-09 Last updated: 2017-03-16Bibliographically approved

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