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We consider the problem of perfect cancellation of gravity effects in the dynamics of robot manipulators having flexible transmissions at the joints. Based on the feedback equivalence principle, we aim at designing feedback control laws that let the system outputs behave as those of a desired model where gravity is absent. The cases of constant stiffness (elastic joints), nonlinear flexible, and variable...
Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities...
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to...
We present a method that allows automatic reaction of a robot to physical collisions, while preserving as much as possible the execution of a Cartesian task for which the robot is kinematically redundant. The work is motivated by human-robot interaction scenarios, where ensuring safety is of primary concern whereas preserving task performance is an appealing secondary goal. Unexpected collisions may...
Physical human-robot interaction requires the development of safe and dependable robots. This involves the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow to combine compliant behavior in reaction to possible collisions, while preserving accuracy and performance of rigid robots in free space. In this framework, great attention has been...
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