The development of safe and dependable robots for physical human-robot interaction is actually changing the way how robot are designed introducing several new aspects, like the adoption of compliant transmission elements and soft covers, the definition of motion control laws that allow compliant behavior in reaction to possible collisions while preserving accuracy and performance during the motion in the free space. In this paper, the workspace control of a robotic manipulator with relevant and adjustable joint stiffness is addressed. The problem of controlling simultaneously both the position and the stiffness trajectory in the robot workspace is investigated.
Task Space Control of Robots with Variable Stiffness Actuation
PALLI, GIANLUCA;MELCHIORRI, CLAUDIO
2010
Abstract
The development of safe and dependable robots for physical human-robot interaction is actually changing the way how robot are designed introducing several new aspects, like the adoption of compliant transmission elements and soft covers, the definition of motion control laws that allow compliant behavior in reaction to possible collisions while preserving accuracy and performance during the motion in the free space. In this paper, the workspace control of a robotic manipulator with relevant and adjustable joint stiffness is addressed. The problem of controlling simultaneously both the position and the stiffness trajectory in the robot workspace is investigated.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
