Using a compliant wrist for a teleoperated robot

摘要

Presents the development of a 6 degrees-of-freedom compliant wrist with force/torque sensor capability that can be used to simultaneously control the displacements and forces. The compliant wrist/sensor has the geometry of a 6-6 type Stewart platform using six linear springs and encoders. Based on the kinestatic control theory, some experiments of the kinestatic control of a robot have been performed and the results are presented. The experimental results demonstrate that the simple compliant wrist/sensor can be utilized for a complicated robot tasks which require a contact with an environment. It is also proposed that the wrist/sensor be used in a teleoperating robotic system with a force-reflecting hand-controller in order to provide an operator with more practical kinesthetic information.