Friction Compensation and Stiffness Evaluation on a Variable Torsion Stiffness
نویسنده
چکیده
With safety aspects due to closer human-robot interaction and increased requirements in energy effiency due to mobile applications, series elastic joint concepts receive high priority in contemporary robotics. Beyond making robots more safe and flexbile, such concepts can store energy and thus optimize the energetic efficiency of the robot’s motion. Therefore adjusting the stiffness is advantageous, since the natural frequency of the drive train and the frequency of the desired trajectory can be matched [1, 2].
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تاریخ انتشار 2015