Title :
Instrumented Compliance for Tendon Driven Rotary Robot Joint
Author :
Gilbank, K. ; Necsulescu, D. ; Petriu, E.
Author_Institution :
Dept. of Mech. Eng., Ottawa Univ., Ont.
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;
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
DOI :
10.1109/AQTR.2006.254634
