Control of manipulator using pneumatic muscles for enhanced safety / Choi, Tae-Yong in IEEE transactions on industrial electronics, Vol. 57 N° 8 (Août 2010)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 57 N° 8 (Août 2010) . - pp. 2815 - 2825 Titre : Control of manipulator using pneumatic muscles for enhanced safety Type de document : texte imprimé Auteurs : Choi, Tae-Yong, Auteur ; Ju-Jang, Lee, Auteur Année de publication : 2011 Article en page(s) : pp. 2815 - 2825 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Human-robot interaction Joint compliance Pneumatic muscle (PM) Safety Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle (PM) is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this paper, joint compliance actuated by PM is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using PMs. The proposed method is verified by experiments using a physical robot. In addition, methods to decrease damage from collisions between robots and humans due to operational faults are evaluated through experiments. The effectiveness of the proposed method is verified by measuring the impact impulse in collisions. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339224 [article] Control of manipulator using pneumatic muscles for enhanced safety [texte imprimé] / Choi, Tae-Yong, Auteur ; Ju-Jang, Lee, Auteur . - 2011 . - pp. 2815 - 2825. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 8 (Août 2010) . - pp. 2815 - 2825 Mots-clés : Human-robot interaction Joint compliance Pneumatic muscle (PM) Safety Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle (PM) is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this paper, joint compliance actuated by PM is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using PMs. The proposed method is verified by experiments using a physical robot. In addition, methods to decrease damage from collisions between robots and humans due to operational faults are evaluated through experiments. The effectiveness of the proposed method is verified by measuring the impact impulse in collisions. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339224

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