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Gliedelastizität in Roboterarmen

Von einem Dilemma zu neuen Möglichkeiten der Kraftmessung und Interaktion

Flexible robot links

A dilemma offers novel options for force sensing and interaction control

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Zusammenfassung

Das Auftreten von elastischen Effekten in der Tragwerksstruktur von Mehrkörpersystemen ist in der Regel unerwünscht. Lastabhängige Verbiegungen verringern die Präzision des Mechanismus, während auftretende Schwingungen die Ausregelzeiten von gewünschten Bewegungen verlängern. Mit entsprechendem Entwicklungsaufwand wird häufig durch die Konstruktionsweise sowie die Auswahl der eingesetzten Materialien versucht, diese Elastizität bis auf ein vernachlässigbares Maß zu minimieren.

Der Beitrag betrachtet die elastischen Eigenschaften in der Tragwerksstruktur aus einer dazu veränderten Perspektive. Er zeigt anhand eines gliedelastischen Roboterarms beispielhaft auf, wie in sechs Schritten durch regelungstechnische Kompensation der Schwingungen und statischen Verbiegungen die ursprünglich nachteilige Eigenschaft zum Zweck der Messung und Regelung von Kontaktkräften ausgenutzt werden kann.

Abstract

The emergence of link elasticity in multi-body systems is typically undesired. Load dependent deflections deteriorate the precision of the mechanism, while oscillations prolong settling times. Commonly, the engineer seeks to minimize the degree of elasticity through the selection of materials and structure design.

This paper looks at the link elasticity from a different perspective. It proposes a six step control approach to actively damp oscillations, compensate for static deflections and finally exploit the elasticity for contact force sensing and physical interaction control. This path from elasticity being a functional mechanism flaw to link compliance offering new potentials for force control is exemplified based on multi-link experimental setup.

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Notes

  1. https://youtu.be/kJPuenyxeps?t=40s

  2. http://www.youtube.com/watch?v=P4_i_kGt2jA

  3. https://youtu.be/kJPuenyxeps?t=2m10s

  4. https://youtu.be/cAk5CPEWRMk

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Authors and Affiliations

  1. Deptartment of Advanced Robotics, Istituto Italiano Di Tecnologia, Via Morego 30, 16163, Genova, Italien

    Jörn Malzahn

  2. Institute of Control Theory and Systems Engineering, Technische Universität Dortmund, Otto-Hahn-Str. 8, 44227, Dortmund, Deutschland

    Torsten Bertram

Authors
  1. Jörn Malzahn
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  2. Torsten Bertram
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Correspondence to Jörn Malzahn.

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Malzahn, J., Bertram, T. Gliedelastizität in Roboterarmen. Forsch Ingenieurwes 80, 121–136 (2016). https://doi.org/10.1007/s10010-016-0208-7

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  • DOI: https://doi.org/10.1007/s10010-016-0208-7

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