| Autor: |
Damme, Michaël, Beyl, Pieter, Vanderborght, Bram, Versluys, Rino, Ham, Ronald, Vanderniepen, Innes, Daerden, Frank, Lefeber, Dirk |
| Zdroj: |
International Journal of Social Robotics; Sep2010, Vol. 2 Issue 3, p289-303, 15p |
| Abstrakt: |
In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. This paper presents a study of the safety of a lightweight robot actuated by pneumatic muscles. Due to its low weight, it has excellent hardware safety characteristics. In spite of this, it is shown that the system can be unsafe when under PID control. It is also shown that safety can be greatly increased by using Proxy-Based Sliding Mode Control (PSMC). The role of passive compliance in safety is also investigated. It is argued that passive compliance can have positive as well as negative effects on robot safety, depending on the situation. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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