Instrumented Compliance for Tendon Driven Rotary Robot Joint

Author

Gilbank, K. ; Necsulescu, D. ; Petriu, E.

Author_Institution

Dept. of Mech. Eng., Ottawa Univ., Ont.

Volume

2

fYear

2006

fDate

25-28 May 2006

Firstpage

215

Lastpage

218

Abstract

An important issue in the development of rotary joints is to provide the required compliance between the rigid links. The goal of this work presented in this paper is to present solutions to instrumented compliance for a tendon driven spherical robot joint. The solutions are based on a combination of active compliance, created by the actuator-controller subsystem, and piecewise linear passive compliance based on switching passive springs. Preliminary simulation and experimental results illustrate the performance for the case of a single DOF rotary joint

Keywords

actuators; compliance control; piecewise linear techniques; robots; actuator-controller subsystem; instrumented compliance; piecewise linear passive compliance; single DOF rotary joint; switching passive springs; tendon driven rotary robot joint; tendon driven spherical robot joint; Control systems; Information technology; Instruments; Manipulators; Mechanical engineering; Pneumatic actuators; Proportional control; Robots; Springs; Tendons; Rotary joint; active compliance; robot arm; switched passive compliance; tendon actuation;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

1-4244-0360-X

Electronic_ISBN

1-4244-0361-8

Type

conf

DOI

10.1109/AQTR.2006.254634

Filename

4022957