Control of a compliant two-axis robotic armJones, R., Wood, S. J. and Kyberd, P. J. (2005) Control of a compliant two-axis robotic arm. Transactions of the Institute of Measurement and Control, 27 (2). pp. 89-102. ISSN 1477-0369 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. To link to this item DOI: 10.1191/0142331205tm137oa Abstract/SummaryIt is common to make the links between actuators and robotic limbs as stiff as possible, in complete contrast to natural systems, where compliance is present. In the past, to create some compliance in a drive, springs have been added to the link between the actuator and load. Many of these springs have been in series with the drive, but recently a more 'biological' approach has been taken where two springs have been used in parallel to counteract each other. This paper describes 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.
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