Towards a More Robust Non-Rigid Robotic Joint

Applied System Innovation

VítorH. Pinto¹  Paulo Costa¹  José Gonçalves² 

[1] FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal;INESC TEC—Institute for Systems and Computer Engineering, Technology and Science, CRIIS—Centre for Robotics in Industry and Intelligent Systems, Campus of FEUP, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal;

关键词: non-rigid joint;    modeling;    physical design;    compliant control;    robot control;    design for experiments;   

DOI  :  10.3390/asi3040045

来源: DOAJ

【 摘 要 】

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

【 授权许可】

Unknown