From Human Arms to a New Generation of Manipulators: Control and Design Principles

摘要

Abstract With the knowledge of the biological design of the human arm, we lay out the mechatronic design of a new generation of advanced light-weight robot manipulators with human-like dynamic characteristics. To achieve this property, the manipulator does not have to revert to a human-like, bionic design. A serial link manipulator, control technology, and sensorized joint actuators can generate a kinesthesis enabling high fidelity interaction of the robot with its environment. The design and control of the DLR light-weight robot is based on these principles. Based on generic properties governing the dynamic behavior of any arm, we discuss the difference between the human and the advanced robot arm. The mechatronic design of the advanced robot has to make use of these properties in a very different way than its biological counterpart to achieve a similar dynamic behavior.