Fast and "soft-arm" tactics
Fast and "soft-arm" tactics
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DOI：
10.1109/mra.2004.1310939
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发表时间：
2004-06-01
影响因子：
5.7
通讯作者：
Tonietti, G
中科院分区：
文献类型：
--
作者：
Bicchi, A;Tonietti, G
本文考虑了设计关节驱动机构的问题，该机构可以允许机器人手臂的快速准确操作，同时保证适当限制的伤害风险水平。针对这一问题提出了不同的解决方法，并提出了一种基于安全约束的最短时间最优控制的性能评价方法。变刚度传动（VST）方案被认为是允许最大灵活性和潜在性能的几种不同的可能方案之一。还报告了与VST驱动的机械和控制的实施有关的一些方面。
This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk. Different approaches to the problem were presented, and a method of performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme was found to be one of a few different possible schemes that allows the most flexibility and potential performance. Some aspects related to the implementation of the mechanics and control of VST actuation were also reported.