TWO LINK COMPLIANT ROBOT MANIPULATOR FOR HUMAN ROBOT COLLISION SAFETY

Muhammad Rehan Ahmed, Ivan Kalaykov

2011

Abstract

For successful human robot interaction (HRI), collision safety as well as position accuracy are equally important. Robot is required to demonstrate safe sharing of work space with humans and to exhibit adaptable compliant behavior that comply with interaction forces generated upon contact. We present an approach for acquiring reconfigurable compliance using semi-active actuation mechanism, where compliance is achieved by controlling the viscous properties of magneto-rheological (MR) fluid. In this paper, we have discussed three essential modes of motions required for safe physical HRI. Then, we have shown collision safety of our robot based on static and dynamic collision testing in different motion modes. Finally, experimental results validate the significance of our proposed approach for human robot collision safety and high position accuracy.

Paper Citation

in Harvard Style

Rehan Ahmed M. and Kalaykov I. (2011). TWO LINK COMPLIANT ROBOT MANIPULATOR FOR HUMAN ROBOT COLLISION SAFETY . In Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2011) ISBN 978-989-8425-35-5, pages 518-521. DOI: 10.5220/0003178405180521

in Bibtex Style

@conference{biosignals11,
author={Muhammad Rehan Ahmed and Ivan Kalaykov},
title={TWO LINK COMPLIANT ROBOT MANIPULATOR FOR HUMAN ROBOT COLLISION SAFETY},
booktitle={Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2011)},
year={2011},
pages={518-521},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003178405180521},
isbn={978-989-8425-35-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2011)
TI - TWO LINK COMPLIANT ROBOT MANIPULATOR FOR HUMAN ROBOT COLLISION SAFETY
SN - 978-989-8425-35-5
AU - Rehan Ahmed M.
AU - Kalaykov I.
PY - 2011
SP - 518
EP - 521
DO - 10.5220/0003178405180521