A Safe Torque Limiter Based on a Leaf Spring and Cam Mechanism with Ability to Reinitialize Position

Abstract

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.