The Safety of a Robot Actuated by Pneumatic Muscles-A Case Study

被引：29

作者：

Van Damme, Michael ^{[1
]}

Beyl, Pieter ^{[1
]}

Vanderborght, Bram ^{[1
]}

Versluys, Rino ^{[1
]}

Van Ham, Ronald ^{[1
]}

Vanderniepen, Innes ^{[1
]}

Daerden, Frank ^{[1
]}

Lefeber, Dirk ^{[1
]}

机构：

[1] Vrije Univ Brussel, Dept Mech Engn, Robot & Multibody Mech Res Grp, B-1050 Brussels, Belgium

来源：

INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS | 2010年 / 2卷 / 03期

关键词：

Robot safety; Pneumatic muscles; Compliance; Proxy-based sliding mode control; SLIDING MODE CONTROL; IMPEDANCE CONTROL; CONTACT; TORQUE; DYNAMICS; VELOCITY; POSITION; DESIGN; MASS;

D O I：

10.1007/s12369-009-0042-2

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：289 / 303

页数：15

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