Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von (2012):
Investigation of Safety in Human-Robot-Interaction for a Series Elastic, Tendon-Driven Robot Arm.
In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4309-4314,
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), [Conference or Workshop Item]
Abstract
This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worst-case estimation of impact and clamping forces in the absence of collision detection. As intrinsic joint compliance can pose a threat by storing energy, a safety evaluation method is proposed taking the potential energy stored in the elastic actuation into account. The evaluation shows that the robot arm design constrains the worst case clamping forces to only 25N, while being able to handle loads up to 2kg, and inherits extremely low impact properties, such as an effective mass of less than 0.4kg in non near-singular configurations, enabling safe operation even in case of high velocities. The results are validated in simulation and experiments.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2012 |
| Creators: | Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von |
| Title: | Investigation of Safety in Human-Robot-Interaction for a Series Elastic, Tendon-Driven Robot Arm |
| Language: | English |
| Abstract: | This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worst-case estimation of impact and clamping forces in the absence of collision detection. As intrinsic joint compliance can pose a threat by storing energy, a safety evaluation method is proposed taking the potential energy stored in the elastic actuation into account. The evaluation shows that the robot arm design constrains the worst case clamping forces to only 25N, while being able to handle loads up to 2kg, and inherits extremely low impact properties, such as an effective mass of less than 0.4kg in non near-singular configurations, enabling safe operation even in case of high velocities. The results are validated in simulation and experiments. |
| Book Title: | IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) |
| Divisions: | 20 Department of Computer Science 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group |
| Event Title: | IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) |
| Date Deposited: | 20 Jun 2016 23:26 |
| Identification Number: | 2012IROS:lens |
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