제어로봇시스템학회:학술대회논문집
- 2002.10a
- /
- Pages.119.2-119
- /
- 2002
Design and Control of a Passive Compliant Joint for Human-friendly Service Robots
- Yoon, Seong-Sik (KIST) ;
- Sungchul Kang (KIST) ;
-
Kim, Seung-Jong
(KIST)
;
-
Kim, Munsang
(KIST)
;
-
Yim, Heung-Soon
(Hyundai Heavy Industries Co. Ltd.)
;
- Kim, Young-Hwan (Hyundai Heavy Industries Co. Ltd.)
- Published : 2002.10.01
Abstract
In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.
Keywords