Intelligent variable joint impedance control and development of a new whole-sensitive anthropomorphic robot arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

Результат исследований: Глава в книге, отчете, сборнике статейМатериалы для конференциирецензирование

17 Цитирования (Scopus)

Аннотация

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. In the paper, we detail the design procedure of 4-DOF robot arm and optical torque sensors. The experimental results of variable joint impedance control show that proposed approach not only provides safe interaction of entire structure of robot arm with a person, but also improves the effectiveness of contact task performance, enables thus to contact with environment in a delicate manner.

Язык оригиналаАнглийский
Название основной публикацииProceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Страницы338-343
Число страниц6
DOI
СостояниеОпубликовано - 2007
Опубликовано для внешнего пользованияДа
Событие2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 - Jacksonville, FL, Соединенные Штаты Америки
Продолжительность: 20 июн. 200723 июн. 2007

Серия публикаций

НазваниеProceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

Конференция

Конференция2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Страна/TерриторияСоединенные Штаты Америки
ГородJacksonville, FL
Период20/06/0723/06/07

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