[Talk] ICRA 2021: Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with …

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Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions

We use variable stiffness impedance controllers and reactive motions to reduce damage in situations where collision avoidance fails. The variable stiffness impedance controllers and reactive motions use proximity information to reduce stiffness and trigger reactive motions only when required. In regular operation, the robot’s joints can remain stiff and accurate, and the trajectory is unaffected.

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