On a new generation of torque controlled light-weight robots
Published 13 November 2002
G. Hirzinger, Alin Albu‐Schäffer, M. Hähnle, Iris Schaefer, N. Sporer
Citations302
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TL;DR
The paper describes the recent design and development efforts in DLR Robotics Lab towards the second generation of light-weight robots, and the mechatronic approach incorporates a tight collaboration between mechanics, electronics and controller design.
Abstract
The paper describes the recent design and development efforts in DLR Robotics Lab towards the second generation of light-weight robots. The design of the light weight mechanics, integrated sensors and electronics is outlined. The fully sensory joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced control strategies for compliant manipulation. The mechatronic approach incorporates a tight collaboration between mechanics, electronics and controller design. The authors hope that important steps towards a new generation of service and personal robots have been achieved.
Keywords
Engineering
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