Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen

Mauser K, Wartzack S, Hasse A (2016)

Publication Type: Conference contribution

Publication year: 2016

Publisher: TuTech

City/Town: Hamburg

Pages Range: 157-168

Conference Proceedings Title: Design for X - Beiträge zum 27. DfX-Symposium

Event location: Jesteburg DE

ISBN: 978-3-946094-09-8

URI: https://www.mfk.uni-erlangen.de?file=pubmfk_57fcff1811ebc

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.

Authors with CRIS profile

Kristian Mauser Chair of Engineering Design Sandro Wartzack Chair of Engineering Design Alexander Hasse Professur für Mechatronische Systeme

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.

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