منابع مشابه
Control of Adjustable Compliant Actuators
Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator sy...
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In this work, an active vibration control method using compliant-based actuators is proposed for controlling a wide range of vibration and its noise-associated applications. The compliant-based actuator combines a conventional actuator with elastic elements, such as passive springs, that can be demonstrated to have better accuracy and robustness for force control compared to conventional stiff ...
متن کاملCompliant Task-Space Control with Back-Drivable Servo Actuators
In this paper, we propose a new approach to compliant taskspace control for high degree-of-freedom manipulators driven by positioncontrolled actuators. The actuators in our approach are back-drivable and allow to limit the torque used for position control. Traditional approaches frequently achieve compliance through redundancy resolution. Our approach not only allows to adjust compliance in the...
متن کاملPleated pneumatic artificial muscles: compliant robotic actuators
Pleated pneumatic artificial muscles (PPAMs), which have recently been developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering are brought forward as robotic actuators in this paper. Their distinguishing feature is their pleated design, as a result of which their contraction forces and maximum displacement are very high compared to other pneumatic artificial muscles. T...
متن کاملFeasibility study on self-healing compliant actuators
Natural organisms have a unique property not yet available in robotics, a self-healing (SH) ability. This powerful biological healing function has inspired chemists to impart similar properties to synthetic materials to create “self-healing materials”. Recent development in SH-polymers made us investigate the potential of using these materials in robotics, and more specifically in compliant act...
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ژورنال
عنوان ژورنال: Machines
سال: 2014
ISSN: 2075-1702
DOI: 10.3390/machines2020134