Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen
Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack
Author: Mauser, Kristian; Wartzack, Sandro; Hasse, Alexander
Institution: Friedrich-Alexander-Universität Erlangen-Nürnberg
The traditional approach to robotics includes a stiff serial-kinematic structure. Although this solution is efficient for position control tasks, such a concept is problematic for force control. The performance of control strategies is limited amongst others by the proper inertia which sets strong boundaries to control. Here, we propose an attractive concept for the realization of force control by means of an elastic interface based on variable-stiffness compliant-mechanism. Interposition of our elastic interface between the robot free-end and end effector 'decouples' the entire robot inertia from the end effector. Furthermore, the proposed system provides a frictionless operation and offers adaptive compliance, which allows for a high range of bandwidth.