Authors:
Muhammad Rehan Ahmed
and
Ivan Kalaykov
Affiliation:
Örebro University, Sweden
Keyword(s):
Motion control, Adatable compliance actuator, Smart materials, Magneto-rheological fluid, Collision safety, Human robot interaction.
Related
Ontology
Subjects/Areas/Topics:
Animation and Simulation
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Computer Vision, Visualization and Computer Graphics
;
Motion Control
Abstract:
For successful human robot interaction (HRI), collision safety as well as position accuracy are equally important. Robot is required to demonstrate safe sharing of work space with humans and to exhibit adaptable compliant behavior that comply with interaction forces generated upon contact. We present an approach for acquiring reconfigurable compliance using semi-active actuation mechanism, where compliance is achieved by controlling the viscous properties of magneto-rheological (MR) fluid. In this paper, we have discussed three essential modes of motions required for safe physical HRI. Then, we have shown collision safety of our robot based on static and dynamic collision testing in different motion modes. Finally, experimental results validate the significance of our proposed approach for human robot collision safety and high position accuracy.