Optimal Posture Determination Methods for Variable Stiffness Tendon Driven Arms

T. Tomita, S. Komada, K. Yubai, D. Yashiro
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Abstract

Under the human environment, robot arms are desired to have safety and versatility. There is a tendon driven arm using nonlinear springs as a mechanism that meets the requirement. By using springs, this mechanism can ensure safety at the time of contact. Moreover, by using nonlinear springs, it is possible to mechanically adjust the stiffness of the arm. Determining the arm posture is important to maximize the performance of the robot. In this paper, we focus on the posture which minimizes the burden by distributing the required torque to each actuator when the robots perform tasks. I proposed the algorithm that simply determines the optimal posture (Method 1) and the algorithm that reduces calculation cost by using the tension difference limit (Method2). I confirmed equivalent posture determination by both methods and compared calculation cost. I confirmed calculation cost can be shortened by the Method2.
变刚度肌腱驱动臂的最佳姿态确定方法
在人类环境下,机械臂的安全性和通用性是人们所期望的。有一种采用非线性弹簧作为机构的肌腱驱动臂满足要求。通过使用弹簧,该机构可以确保接触时的安全。此外,通过使用非线性弹簧,可以机械地调整手臂的刚度。确定手臂姿态对于机器人性能的最大化是非常重要的。在本文中,我们关注的是当机器人执行任务时,通过将所需的扭矩分配给每个执行器来最小化负担的姿势。我提出了简单确定最优姿态的算法(Method 1)和利用张力差极限降低计算成本的算法(Method2)。确定了两种方法确定的等效姿态,并比较了计算成本。我确认使用Method2可以缩短计算成本。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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