Effect of End-Effector Compliance on Collisions in Robotic Teleoperation

摘要

In robotic teleoperation, hard impacts between a tool and the manipulated object may impair the success of a task. In order to develop a robotic system that is able to minimize the final velocity of an object after impact, a comprehensive approach is adopted in this work, and the effect on the impact of the parameters of the tool and of the robot is studied. Mass, contact stiffness and damping, robot compliance and control and tool compliance are taken into account. A mathematical model including the tool and the robot moving along the approach direction shows that, in most conditions, robot compliance is not enough to mitigate the impact. A mechanical decoupling between the inertia of the tool and the inertia of the robot is needed. An elastic system based on a bi-stable mechanism is developed and its validity is shown by means of numerical simulations.