Fast and "soft-arm" tactics [robot arm design]

Author

Bicchi, Antonio ; Tonietti, Giovanni

Author_Institution

Autom. & Robotics Group, Pisa Univ., Italy

Volume

11

Issue

2

fYear

2004

fDate

6/1/2004 12:00:00 AM

Firstpage

22

Lastpage

33

Abstract

This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk. Different approaches to the problem were presented, and a method of performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme was found to be one of a few different possible schemes that allows the most flexibility and potential performance. Some aspects related to the implementation of the mechanics and control of VST actuation were also reported.

Keywords

actuators; control engineering computing; man-machine systems; manipulators; optimal control; performance evaluation; risk management; safety; hazard analysis; human machine interface; joint-actuation mechanisms; mechanical failures; minimum-time optimal control; risk evaluation; robot arm; robot safety; safety constraints; software dependability; variable stiffness transmission; Arm; Automatic control; Human robot interaction; Manipulators; Medical robotics; Rehabilitation robotics; Robot sensing systems; Robotics and automation; Safety; Service robots;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2004.1310939

Filename

1310939