Visual tracking of independently moving body and arms
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
| Hi-index | 0.00 |
In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the contact of arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The gravity compensation algorithm was elaborated and verified by implementation of the local impedance control of a simple two-link arm manipulator.