Trajectory planning of soft link robots with improved intrinsic safety

[en] For human-robot cooperation, intrinsic safety approaches aim at reducing the energy involved in the motion of the robotic system and at increasing the system compliance in order to reduce the risk of injury in case of an unexpected collision. Robots based on lightweight and inherently exible links exhibit attractive features in this context but the control of their motion then leads to a tremendous challenge. This paper presents a novel trajectory planning method for 3D robots which aims at improving the tracking accuracy despite the link exibility.

Disciplines :

Mechanical engineering

Author, co-author :

Lismonde, Arthur ; Université de Liège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Sonneville, Valentin

Bruls, Olivier ; Université de Liège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Language :

English

Title :

Trajectory planning of soft link robots with improved intrinsic safety

Publication date :

July 2017

Event name :

The 20th World Congress of the International Federation of Automatic Control

Event date :

du 9 juillet 2017 au 14 juillet 2017

Audience :

International

Journal title :

IFAC-PapersOnLine

ISSN :

2405-8971

eISSN :

2405-8963

Publisher :

Elsevier

Peer reviewed :

Peer Reviewed verified by ORBi

Available on ORBi :

since 16 August 2017

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