Position and compliance control of manipulator using pneumatic muscles for enhanced safety안전성 강화를 위한 인공 근육에 기반한 매니퓰레이터의 위치 및 컴플라이언스 제어

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 552
  • Download : 0
The 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 is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance actuated by pneumatic muscle 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 pneumatic muscles. 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 impulse in collisions.
Advisors
Lee, Ju-Jangresearcher이주장researcher
Description
한국과학기술원 : 전기 및 전자공학과,
Publisher
한국과학기술원
Issue Date
2010
Identifier
418766/325007  / 020037655
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과, 2010.2, [ viii, 75 p. ]

Keywords

Safety; Compliance; Artificial Pneumatic Muscle; 인공공압근육; 안전성; 컴플라이언스

URI
http://hdl.handle.net/10203/35578
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=418766&flag=dissertation
Appears in Collection
EE-Theses_Ph.D.(박사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0