A Variable-Stiffness Robot for Force-Sensitive Applications

Chun Hung Huang, Kuan Wei Chiao, Chen Pin Yu, Yen Chien Kuo, Chao Chieh Lan

研究成果: Article同行評審

4 引文 斯高帕斯(Scopus)


Robots with adjustable joint stiffness can ensure safety and manipulation reliability in force-sensitive applications. Existing robots use six-axis force/torque sensors at the end-effector to sense the output force and control the output compliance. External sensors are costly, bulky, and cannot be used to offer active link compliance. To account for link compliance and avoid link collision, robots need to have a torque-controlled actuator at each joint. This article presents a variable-stiffness robot that employs a torque-controlled actuator at each joint. Unlike existing torque-controlled actuators, the proposed actuator has a compact structure and high output moment rigidity. Only encoders are required to sense and control the output torque to exhibit a wide range of controlled stiffness. The end-effector compliance in each direction can be adjusted by varying the compliance contribution of each joint. Design, modeling, and compliance control of the robot are presented. Experiments of the robot in force-sensitive applications demonstrate the accuracy and stability of end-effector compliance control. It is expected that this variable-stiffness robot can be used to interact safely with humans or the environment.

頁(從 - 到)1862-1870
期刊IEEE/ASME Transactions on Mechatronics
出版狀態Published - 2023 8月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程


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