In this paper we propose Variable Stiffness actuation as a viable mechanical/control co–design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
Variable Stiffness Actuators for Fast and Safe Motion Control
BICCHI, ANTONIO;
2005-01-01
Abstract
In this paper we propose Variable Stiffness actuation as a viable mechanical/control co–design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
