Control of a compliant two-axis robotic arm

Jones, R., Wood, S. and Kyberd, P. (2003) Control of a compliant two-axis robotic arm. In: Parkin, R. M., AlHaibeh, A. and Jackson, M. R. (eds.) Icom 2003: International Conference on Mechatronics. Professional Engineering Publishing Ltd, Westminister, pp. 247-252. ISBN 1860584209

Abstract/Summary

In order to ease control, the links between actuators and robotic limbs are generally made to be as stiff as possible. This is in contrast to natural limbs, where compliance is present. Springs have been added to the drive train between the actuator and load to imitate this natural compliance. The majority of these springs have been in series between the actuator and load. However, a more biologically inspired approach is taken, here springs have been used in parallel to oppose each other. The paper will describe the application of parallel extension springs in a robot arm in order to give it compliance. Advantages and disadvantages of this application are discussed along with various control strategies.