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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yoon, S.-S. Kang, S. Kim, S.-J. Kim, Y.-H. Kim, M. Lee, C.-W. |
| Copyright Year | 2003 |
| Description | Author affiliation: Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea (Yoon, S.-S.; Kang, S.) |
| Abstract | In this paper a safe arm with passive compliant joints and visco-elastic covering for human-friendly service robots is presented. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. The rotary spring gives the arm compliant property, but also it might be a source of vibration. Therefore the damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. In an unexpected collision, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is being verified through collision experiments showing that the proposed passive arm overcomes limitations of an active compliant control approach. |
| Sponsorship | IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found |
| Starting Page | 2191 |
| Ending Page | 2196 |
| File Size | 443040 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780378601 |
| DOI | 10.1109/IROS.2003.1249196 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-10-27 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Service robots Damping Shock absorbers Springs Displacement control Angular velocity control Current Angular velocity Attenuation Force control |
| Content Type | Text |
| Resource Type | Article |
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