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.
In: 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010), pp. 905-910,
[Conference or Workshop Item]
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 |
| Title: | BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications |
| Language: | English |
| 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. |
| Book Title: | 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010) |
| Divisions: | 20 Department of Computer Science 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group |
| Date Deposited: | 20 Jun 2016 23:26 |
| Identification Number: | 2010:ISR-Lens_etal |
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