Isotropy in any RR planar dyad under active joint stiffness regulation

Nicola Pio Belfiore, Paolo Di Giamberardino, Imre J. Rudas, Matteo Verotti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

The present investigation is dedicated to the study of the static balance at the tip of a planar RR robot. For this case, a configuration can be interpreted, in the static sense, as isotropic when any force applied to the robot wrist yields a small displacement which is theoretically parallel to the applied force (no matter how the force is directed on the plane). This characteristic offers many advantages and is considered as an optimal design goal. Unfortunately, the conditions to achieve such property in RR manipulators are very restrictive, and until now, only one solution is adopted, with a fixed lengths ratio. The present paper reveals how any RR planar robot can achieve isotropy at the tip by using a feedback action at the joints to gain arbitrary elastic coefficients. The new approach of design brings to less restrictive conditions than the previous ones.

Original languageEnglish
Title of host publication19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
Pages219-224
Number of pages6
DOIs
Publication statusPublished - Sep 1 2010
Event19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Balatonfured, Hungary
Duration: Jun 26 2010Jun 27 2010

Publication series

Name19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings

Other

Other19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
CountryHungary
CityBalatonfured
Period6/26/106/27/10

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Keywords

  • Compliance
  • Control
  • Isotropy
  • Robotic arms
  • SCARA

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

Cite this

Belfiore, N. P., Di Giamberardino, P., Rudas, I. J., & Verotti, M. (2010). Isotropy in any RR planar dyad under active joint stiffness regulation. In 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 (pp. 219-224). [5524581] (19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings). https://doi.org/10.1109/RAAD.2010.5524581