Design and implementation of robot serial integrated rotary joint with safety compliance

作     者：LI Shuai LI Jian LI Si-qi HUANG Zong-lin 李帅;李健;李思奇;黄宗林

作者机构：School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China School of AutomationBeijing Institute of TechnologyBeijing 100081China 

基　　金：Project(81473694)supported by the National Natural Science Foundation of China Project(2016A1027)supported by the major Project of Zhongshan City,China Project(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2017年第24卷第6期

页      码：1307-1321页

摘      要：In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.

主 题 词：elastic element impedance control safety compliance active compliance serial integrated rotary joint 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

核心收录：

D　O　I：10.1007/s11771-017-3536-3

馆 藏 号：203254220...