Michael Kastner, Hubert Gattringer, Hartmut Bremer, Martin Ramsauer, Paolo Ferrara,
"Interaction of a Flexible Robot with its Environment"
, in Joaquim Filipe, Juan Andrade Cetto and Jean-Louis Ferrier: Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, Vol. 1, SciTePress-Science and Technology Publications, Seite(n) 230-233, 6-2010, ISBN: 978-989-8425-01-0
Interaction of a Flexible Robot with its Environment
Sprache des Titels:
Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics
Uncomplicated and safe programming interfaces as well as flexible programs themselves become important
when robots are used for small lot size tasks or are operated by personnel without special robotics education.
This work takes a look at safe and easy interaction of a flexible articulated robot arm – actuated by fluidic
muscles – with its environment. A contact detection scheme for stiff collisions at speeds between 50 and
250mm/s is presented and measurement results are disucussed. Moreover, a programming by demonstration
concept is described on the basis of a pick and place task. Both strategies (implemented on a seven axis
handling robot) rely on physical models to allow an operation without extra sensors.