Abstract
We describe the design of an experimental three degrees of freedom compliant robot arm. Motivation for the design decisions are given with reference to previous experimental findings on a single link and a two link compliant arm. The arm is direct drive, with three compliant transmission shafts and supported within an external exoskeleton to remove the problem of bending modes. Initial results are reported on comparisons between two controllers, one based on rigid body assumptions, and the other including a strain based feedback loop for compensating the effects of arm compliance. The advantages and disadvantages of adding strain based feedback loops to model based controllers are discussed. The problem of realizing high performance control with the presence of motor torque ripple and time delays within the drive electronics is also discussed.
Project supported by the SERC contract no. GR/G 17516
Supported by the SERC contract no. GR/G 17516
Funded by the Basque Regional Authorities
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© 1993 Springer-Verlag London Limited
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Arocena, J.I., Daniel, R.W., Elosegui, P. (1993). End point control of compliant robots. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036157
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DOI: https://doi.org/10.1007/BFb0036157
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