A Safe Torque Limiter Based on a Leaf Spring and Cam Mechanism with Ability to Reinitialize Position
- A Safe Torque Limiter Based on a Leaf Spring and Cam Mechanism with Ability to Reinitialize Position
- 이우섭; 최동은; 강성철
- Issue Date
- , 398-403
- This paper examines an alternative approach
to variable damping control in robotic manipulation,
in which the robot changes its damping at the end effector
considering its manipulability. The manipulabilitybased
variable damping control allows robot manipulators
to accomplish manipulation tasks that involve
contacts with the environments without manual gain
tuning. The method makes the robot move with its
maximum allowable speeds with decreased contact forces
and moments between the robot and the environment.
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- KIST Publication > Conference Paper
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