A New Actuation Approach for Human Friendly Robot Design
Springer tracts in advanced roboticsPublished 9 October 2007
Michael Zinn, Oussama Khatib, Bernard Roth, J. Kenneth Salisbury
Citations119
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Abstract
Abstract. In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-friendly robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator we show that uncontrolled impact loads can be reduced by an order of magnitude or more, as compared to conventional manipulator designs. A discussion of the actuation topology is presented along with analytical and experimental results validating the efficacy of our approach. 1
Keywords
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