Mechanical Compliance Control System for a pneumatic robot arm
Mechanical Compliance Control System for a pneumatic robot arm
复制标题
用于气动机器人手臂的机械柔顺控制系统
DOI：
10.1109/sice.2008.4655139
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
S. Tachi
中科院分区：
文献类型：
--
作者：
K. Watanabe;H. Nagayasu;N. Kawakami;S. Tachi
从人类安全的角度来设计和控制机器人是期望的。我们提出了一种机械柔顺控制系统作为一种新的气动手臂控制系统。然而，在不可预测的环境中，难以确保与障碍物碰撞的安全性。所提出的系统的主要特征是，两个期望的压力值是通过使用另外两个期望的值，臂的端部顺应性和臂的端部位置和姿态来计算的。
The design and control of robots from the perspective of human safety is desired. We propose a mechanical compliance control system as a new pneumatic arm control system. However, safety against collisions with obstacles in an unpredictable environment is difficult to insure in previous system. The main feature of the proposed system is that the two desired pressure values are calculated by using two other desired values, the end compliance of the arm and the end position and posture of the arm.