Trajectory planning of soft link robots with improved intrinsic safety * *The publication is funded by the European Regional Development Fund (ERDF) within European Union’s INTERREG V A-program Greater Region, project Robotix Academy.In addition, the first author would like to acknowledge the Belgian Fund for Research training in Industry and Agriculture for its financial support (FRIA grant)
| Autor: | Olivier Bruls, Valentin Sonneville, Arthur Lismonde |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Flexibility (engineering)
0209 industrial biotechnology Computer science Control (management) 0211 other engineering and technologies Vibration control Control engineering Context (language use) 02 engineering and technology Collision Motion (physics) Robot control Intrinsic safety 020901 industrial engineering & automation Control and Systems Engineering Robot 021106 design practice & management |
| Zdroj: | IFAC-PapersOnLine. 50:6016-6021 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2017.08.1440 |
| Popis: | For human-robot cooperation, intrinsic safety approaches aim at reducing the energy involved in the motion of the robotic system and at increasing the system compliance in order to reduce the risk of injury in case of an unexpected collision. Robots based on lightweight and inherently flexible links exhibit attractive features in this context but the control of their motion then leads to a tremendous challenge. This paper presents a novel trajectory planning method for 3D robots which aims at improving the tracking accuracy despite the link flexibility. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|