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Article Dans Une Revue IEEE Transactions on Robotics Année : 2023

Lightweight Human-Friendly Robotic Arm based on Transparent Hydrostatic Transmissions

Résumé

We present theoretical and experimental results pertaining the development and the control of a two-link robotic arm with remotized actuation via rolling diaphragm hydrostatic transmissions. We develop a dynamical model capturing the essential dynamics of the developed transmission/robot ensemble and propose a control strategy consisting in two nested loops, the inner one performing high-bandwidth joint torque regulation and the outer one implementing various types of compliance mechanisms for effective human-robot interactions. An extensive experimental campaign testing both the low-level torque controller and the high-level compliance controller confirms the effectiveness of the proposed hardware-software remotization architecture.
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Dates et versions

hal-04253609 , version 1 (22-10-2023)

Identifiants

Citer

Marco Bolignari, Gianluca Rizzello, Luca Zaccarian, Marco Fontana. Lightweight Human-Friendly Robotic Arm based on Transparent Hydrostatic Transmissions. IEEE Transactions on Robotics, 2023, 39 (5), pp.4051-4064. ⟨10.1109/TRO.2023.3290310⟩. ⟨hal-04253609⟩
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