Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot
Andrew L. Bernhard,Joseph M. Schimmels,Andrew L. Bernhard,Joseph M. Schimmels
This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, together with a combined position/compliance manipulation path, is used to: 1) allow the robot to passivel...
