The DLR lightweight robot: design and control concepts for robots in human environments

The paper presents a new generation of torque-controlled lightweight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load-to-weight ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, as well as compliant control on joint and Cartesian level. Due to the partially unknown properties of the environment, robustness of planning and control with respect to environmental variations is crucial. After briefly describing the main hardware features, the paper focuses on showing how joint torque sensing (as a main feature of the robot) is consequently used for achieving the above mentioned performance, safety, and robustness properties.