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On Impact Decoupling Properties of Elastic Robots and Time Optimal Velocity Maximization on Joint Level

Haddadin, Sami and Krieger, Kai and Mansfeld, Nico and Albu-Schäffer, Alin (2012) On Impact Decoupling Properties of Elastic Robots and Time Optimal Velocity Maximization on Joint Level. IEEE/RSJ International Conference on Intelligent Robots and Systems , 07.-12.10. 2012, Vilamoura, Portugal. ISBN 978-1-4673-1735-1

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Abstract

Designing intrinsically elastic robot systems, making systematic use of their properties in terms of impact decoupling, and exploiting temporary energy storage and release during excitative motions is becoming an important topic in nowadays robot design and control. In this paper we treat two distinct questions that are of primary interest in this context. First, we elaborate an accurate estimation of the maximum contact force during human/obstacle-robot collisions and how the relation between reflected joint stiffness, link inertia, human/obstacle stiffness, and human/obstacle inertia affect it. Overall, our analysis provides a safety oriented methodology for designing passively flexible joints and clearly defines how its basic mechanical properties influence the overall collision behavior. Secondly, we provide a closed form solution of reaching maximum link side velocity in minimum time with an intrinsically elastic joint, while keeping the maximum deflection constraint. This gives an analytical tool for determining suitable stiffness and maximum deflection values in order to be able to execute desired optimal excitation trajectories for explosive motions.

Item URL in elib:https://elib.dlr.de/80250/
Document Type:Conference or Workshop Item (Paper)
Title:On Impact Decoupling Properties of Elastic Robots and Time Optimal Velocity Maximization on Joint Level
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, Samisami.haddadin (at) dlr.deUNSPECIFIED
Krieger, Kaikai.krieger (at) dlr.deUNSPECIFIED
Mansfeld, Niconico.mansfeld (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:7 October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 5097-5104
ISBN:978-1-4673-1735-1
Status:Published
Keywords:elastic joint, optimal control, robot safety
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vilamoura, Portugal
Event Type:international Conference
Event Dates:07.-12.10. 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Mansfeld, Nico
Deposited On:11 Jan 2013 15:02
Last Modified:13 Jul 2016 17:28

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