In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.
|Autori interni:||BICCHI, ANTONIO|
|Autori:||BICCHI A; G. TONIETTI|
|Titolo:||Fast and "Soft Arm" Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control|
|Anno del prodotto:||2004|
|Digital Object Identifier (DOI):||10.1109/MRA.2004.1310939|
|Appare nelle tipologie:||1.1 Articolo in rivista|