Abstract
Demands for human-robot collaboration in production line has increased and the problem of safety in robot becomes more and more important. This paper presents a manipulator with counterbalancing mechanism to secure safety of a human worker in human-robot collaboration environment by reducing a needed power to drive a manipulator. A counterbalancing torque to cancel out a gravitational torque was generated by a restoring force of spring. Also a control algorithm to minimize the effect of spring on tracking performance was proposed. Experimental results were suggested to verify the performance of the proposed method.
| Original language | English |
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| Title of host publication | Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society |
| Publisher | IEEE Computer Society |
| Pages | 681-685 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781509034741 |
| DOIs | |
| Publication status | Published - 2016 Dec 21 |
| Event | 42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: 2016 Oct 24 → 2016 Oct 27 |
Publication series
| Name | IECON Proceedings (Industrial Electronics Conference) |
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Conference
| Conference | 42nd Conference of the Industrial Electronics Society, IECON 2016 |
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| Country/Territory | Italy |
| City | Florence |
| Period | 16/10/24 → 16/10/27 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering