In this paper a new method for achieving isotropic compliance at the contact point is applied to a manipulator for packaging operation. Two different manipulators are considered, namely, PR and PPR. The paper discloses some different strategies for stiffness control, with the purpose of contact force optimization. The control system acts on the controlled joint stiffness in such a way that the contact force, in the Cartesian Space, will be parallel to the displacement of the contact point. Such feature minimizes friction and wear during packaging operations and minimize tangential reactions.
Optimal Joint Stiffness Regulation in a Planar Robot for Packaging Operations
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Belfiore, NP, Verotti, M, & Ciavaglia, F. "Optimal Joint Stiffness Regulation in a Planar Robot for Packaging Operations." Proceedings of the ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis. Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics. Copenhagen, Denmark. July 25–27, 2014. V003T17A005. ASME. https://doi.org/10.1115/ESDA2014-20331
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