Mechanical Compliance Control System for a pneumatic robot arm

Abstract

The design and control of robots from the perspective of human safety is desired. We propose a Mechanical Compliance Control System as a new pneumatic arm control system. However, safety against collisions with obstacles in an unpredictable environment is difficult to insure in previous system. The main feature of the proposed system is that the two desired pressure values are calculated by using two other desired values, the end compliance of the arm and the end position and posture of the arm.