Abstract
This paper describes the overall control structure of a new generation of compliance controlled manipulators implemented by the design and control of the DLR lightweight robot. To achieve the compliance property, the manipulator does not have to revert to a human-like, bionic design. A serial link manipulator, control technology, and sensorized joint actuators can generate a kinesthesis similar to the compliance properties of the human arm. The design and control of the new robot generation implement these properties in a very different way than its biological counterpart to enable high fidelity interaction of the robot with its environment.
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Koeppe, R., Albu-Schäffer, A., Preusche, C., Schreiber, G., Hirzinger, G. (2003). A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_14
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DOI: https://doi.org/10.1007/3-540-36460-9_14
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