Design and Vibration Control of Safe Robot Arm with MR-Based Passive Compliant Joint
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概要
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In this paper, vibration control of a safe arm with passive compliant joints and visco-elastic covering for a human-friendly service robot is presented. The passive compliant joint (PCJ) is designed to passively attenuate the applied force. The rotary spring gives the arm compliant property, and yet it can be a source of vibration. We use an input-preshaping method which is motivated by the input shaping technique (IST) based on impulse responses. Experiments prove that both of fast motion and force attenuation of the safe arm can be achieved.
著者
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Yoon Seong-sik
Intelligent Robotics Res. Center Korea Inst. Of Sci. And Technol.
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Kim Munsang
Intelligent Robotics Research Center Korea Institute Of Science And Technology
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Kang Sungchul
Intelligent Robotics Research Center Korea Institute Of Science And Technology
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YOON Seong-Sik
Intelligent Robotics Research Center, Korea Institute of Science and Technology
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YUN Seung-kook
Intelligent Robotics Research Center, Korea Institute of Science and Technology
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