TY - GEN
T1 - Design and Impedance Control of the Integrated Rotary Compliant Joint
AU - Chen, Leping
AU - Ding, Hongsheng
AU - Fu, Tie
AU - Li, Jian
AU - Shao, Liwei
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2018.
PY - 2018
Y1 - 2018
N2 - In order to make robots adapt the complex work environments and guarantee safety during physical human-robot interactions, an integrated rotary compliant joint with active and passive compliance is proposed. Passive compliance is derived from a designed series elastic actuator (SEA) equipped between the harmonic reducer and the load link. The SEA is mainly composed of linear springs so that the compliant joint may minimize large forces from collision and store energy in the elastic elements. Meanwhile, the variable stiffness model of the joint is established. The torque of the compliant joint is obtained by measuring the deflections between motor and link through an encoder but a torque sensor, furthermore the obtained torque is used as feedback to realize force closed-loop. The dynamic model of the designed integrated compliant joint is established, and the active compliance is achieved by impedance control. To ensure safety, the joint torque is monitored to a threshold to adjust the desired trajectory. The experiment indicate that, the designed integrated compliant joint can provide enough effective compliance during the human-robot interactions, which meets the requirements for the safety of robot.
AB - In order to make robots adapt the complex work environments and guarantee safety during physical human-robot interactions, an integrated rotary compliant joint with active and passive compliance is proposed. Passive compliance is derived from a designed series elastic actuator (SEA) equipped between the harmonic reducer and the load link. The SEA is mainly composed of linear springs so that the compliant joint may minimize large forces from collision and store energy in the elastic elements. Meanwhile, the variable stiffness model of the joint is established. The torque of the compliant joint is obtained by measuring the deflections between motor and link through an encoder but a torque sensor, furthermore the obtained torque is used as feedback to realize force closed-loop. The dynamic model of the designed integrated compliant joint is established, and the active compliance is achieved by impedance control. To ensure safety, the joint torque is monitored to a threshold to adjust the desired trajectory. The experiment indicate that, the designed integrated compliant joint can provide enough effective compliance during the human-robot interactions, which meets the requirements for the safety of robot.
KW - Impedance control
KW - Integrated compliant joint
KW - Series elastic actuator (SEA)
KW - Torque perception
UR - https://www.scopus.com/pages/publications/85035798700
U2 - 10.1007/978-981-10-6553-8_75
DO - 10.1007/978-981-10-6553-8_75
M3 - Conference contribution
AN - SCOPUS:85035798700
SN - 9789811065521
T3 - Mechanisms and Machine Science
SP - 1125
EP - 1140
BT - Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
A2 - Xiang, Changle
A2 - Tan, Jianrong
A2 - Gao, Feng
PB - Springer Netherlands
T2 - International Conference on Mechanical Design, ICMD 2017
Y2 - 13 October 2017 through 15 October 2017
ER -