Safety oriented mechanism and control using ER fluid in the joint

摘要

Working robots with agents in the same place has become known by the expansion of the use of a remote control robot. For that reason, we need a safety system which prevents a robot from collision with an agent. An ER-joint realizes high-speed response and force-limiting mechanism at the same time. We apply these properties to an automatic safety mechanism to prevent a collision accident. Then we prove the stability of this system in the case of normal operations by Lyapunov's direct method, and apply the system to a micro-injector in order to show the effectiveness of the mechanism.