Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen

Conference contribution


Publication Details

Author(s): Mauser K, Wartzack S, Hasse A
Editor(s): Krause Dieter, Paetzold Kristin, Wartzack Sandro
Publisher: TuTech
Publishing place: Hamburg
Publication year: 2016
Conference Proceedings Title: Design for X - Beiträge zum 27. DfX-Symposium
Pages range: 157-168
ISBN: 978-3-946094-09-8


Abstract


The traditional approach to robotics includes a stiff serial-kinematic structure. Although this solution is efficient for position control tasks, such a concept is problematic for force control. The performance of control strategies is limited amongst others by the proper inertia which sets strong boundaries to control. Here, we propose an attractive concept for the realization of force control by means of an elastic interface based on variable-stiffness compliant-mechanism. Interposition of our elastic interface between the robot free-end and end effector 'decouples' the entire robot inertia from the end effector. Furthermore, the proposed system provides a frictionless operation and offers adaptive compliance, which allows for a high range of bandwidth.



FAU Authors / FAU Editors

Hasse, Alexander Prof. Dr.
Professur für Mechatronische Systeme
Mauser, Kristian
Lehrstuhl für Konstruktionstechnik
Wartzack, Sandro Prof. Dr.-Ing.
Lehrstuhl für Konstruktionstechnik


How to cite

APA:
Mauser, K., Wartzack, S., & Hasse, A. (2016). Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen. In Krause Dieter, Paetzold Kristin, Wartzack Sandro (Eds.), Design for X - Beiträge zum 27. DfX-Symposium (pp. 157-168). Jesteburg, DE: Hamburg: TuTech.

MLA:
Mauser, Kristian, Sandro Wartzack, and Alexander Hasse. "Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen." Proceedings of the Design for X Symposium, Jesteburg Ed. Krause Dieter, Paetzold Kristin, Wartzack Sandro, Hamburg: TuTech, 2016. 157-168.

BibTeX: 

Last updated on 2018-10-08 at 09:24