Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction.

ABSTRACT: Collaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space. They gradually become noticeable nowadays. Compliant actuators are very relevant for the design of cobots. This type of actuation scheme mitigates the damage caused by unexpected collision. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. However, most of the available elastic robots are relatively costly or difficult to construct. To give researchers a solution that is inexpensive, easily customisable, and fast to fabricate, a newly-designed low-cost, and open-source design of an elastic joint is presented in this work. Based on the newly design elastic joint, a highly-compliant multi-purpose 2-DOF robot arm for sa

SUBMITTER: Tuan HM 

PROVIDER: S-EPMC8416520 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature