Control of a compliant two-axis robotic arm

Jones, R., Wood, S. J. and Kyberd, P. J. (2005) Control of a compliant two-axis robotic arm. Transactions of the Institute of Measurement and Control, 27 (2). pp. 89-102. ISSN 1477-0369 doi: 10.1191/0142331205tm137oa

Abstract/Summary

It is common to make the links between actuators and robotic limbs as stiff as possible, in complete contrast to natural systems, where compliance is present. In the past, to create some compliance in a drive, springs have been added to the link between the actuator and load. Many of these springs have been in series with the drive, but recently a more 'biological' approach has been taken where two springs have been used in parallel to counteract each other. This paper describes the application of parallel extension springs in a robot arm in order to give it compliance. Advantages and disadvantages of this application are discussed, along with various control strategies.