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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.
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (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.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2010
Autor(en): Lens, Thomas ; Kunz, Jürgen ; Trommer, Christian ; Karguth, Andreas ; Stryk, Oskar von ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications
Sprache: Englisch
Publikationsjahr: Juni 2010
Buchtitel: 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010)
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Kurzbeschreibung (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.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 20 Jun 2016 23:26
Letzte Änderung: 15 Mär 2019 09:58
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