Title :
Mechanical Compliance Control System for a pneumatic robot arm
Author :
Watanabe, Kouichi ; Nagayasu, Hisashi ; Kawakami, Naoki ; Tachi, Susumu
Author_Institution :
Dept. of Inf. Phys. & Comput., Univ. of Tokyo, Tokyo
Abstract :
The design and control of robots from the perspective of human safety is desired. We propose a mechanical compliance control system as a new pneumatic arm control system. However, safety against collisions with obstacles in an unpredictable environment is difficult to insure in previous system. The main feature of the proposed system is that the two desired pressure values are calculated by using two other desired values, the end compliance of the arm and the end position and posture of the arm.
Keywords :
collision avoidance; compliance control; manipulators; pneumatic actuators; collision avoidance; human safety; mechanical compliance control system; pneumatic robot arm; pressure value; Control systems; Engine cylinders; Humans; Orbital robotics; Pneumatic actuators; Power generation; Pressure control; Robot control; Safety; Service robots; Compliance control; Humanoid robot arm; Pneumatic actuator;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655139