Fast and "Soft-Arm" Tactics
Top Cited Papers
- 12 July 2004
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 11 (2) , 22-33
- https://doi.org/10.1109/mra.2004.1310939
Abstract
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.Keywords
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