Control of Manipulator Using Pneumatic Muscles for Enhanced Safety

被引：52
作者：
Choi, Tae-Yong [1 ]
Lee, Ju-Jang [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2010年 / 57卷 / 08期
关键词：
Human-robot interaction; joint compliance; pneumatic muscle (PM); safety; SLIDING-MODE CONTROL; DESIGN; SYSTEM;
D O I：
10.1109/TIE.2009.2036632
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle ( PM) is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this paper, joint compliance actuated by PM is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using PMs. The proposed method is verified by experiments using a physical robot. In addition, methods to decrease damage from collisions between robots and humans due to operational faults are evaluated through experiments. The effectiveness of the proposed method is verified by measuring the impact impulse in collisions.
引用
收藏
页码：2815 / 2825
页数：11
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