1A1-A05 Impact Force Absorption in Antagonistic Wire-driven Multi-joint Arm(Mechanism and Control for Wire Actuation System)

Abstract

This paper presents a new control method for absorbing impact forces exerted on the tip of a multi-joint robotic arm. In this method, integral controller for generating virtual desired trajectory is hold at the time of impact. We show that the impact force can be absorbed extremely by using the simple control algorithm. In addition, we show that the tip of the robot is forced to move against the applied force in case of lack of the hold operation of integral controller, and resulting in unexpected recoil due to antagonistic nonlinear springs.