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BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications

Lens, Thomas ; Kunz, Jürgen ; Trommer, Christian ; Karguth, Andreas ; Stryk, Oskar von ; Stryk, Oskar von (2010)
BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications.
Conference or Workshop Item, Bibliographie

Abstract

Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Lens, Thomas ; Kunz, Jürgen ; Trommer, Christian ; Karguth, Andreas ; Stryk, Oskar von ; Stryk, Oskar von
Type of entry: Bibliographie
Title: BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications
Language: English
Date: June 2010
Book Title: 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010)
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Abstract:

Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Last Modified: 15 Mar 2019 09:58
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