Safe robot with reconfigurable compliance/stiffness actuation

Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior. Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data...

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Bibliographic Details
Main Authors: Ahmed, R.M., Ananiev, A.V., Kalaykov, I.G.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Compliant safe actuator
Human robot interaction
Intelligent robots
Magnetic materials
Magneto-rheological fluid
Manipulators
Orbital robotics
Reconfigurable robotics
Robot manipulator
Robot sensing systems
Robotic assembly
Safety
Service robots
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Description
Summary:Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior. Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.