Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result
Mehmet C. Yildirim,Mohamadreza Sabaghian,Thore Goll,Clemens Kössler,Christoph Jähne,Abdalla Swikir,Andriy Sarabakha,Sami Haddadin,Mehmet C. Yildirim,Mohamadreza Sabaghian,Thore Goll,Clemens Kössler,Christoph Jähne,Abdalla Swikir,Andriy Sarabakha,Sami Haddadin
Nowadays, wheeled mobile robots constitute a considerable portion of robots in industrial applications. Generally, regardless of their purpose, these systems are not designed to physically interact with humans, other robots, or the environment. In this study, we present a novel safe autonomous mobile - SAM - robot, which is a torque-controlled compliant robot that is conceived for safe human-robot...
