Safe robot with reconfigurable compliance/stiffness actuation

Abstract

Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior. Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.