On a New Generation of Torque Controlled Light-Weight Robots

The paper describes the recent design and development efforts in DLR ́s robotics lab towards the second generation of light-weight robots. The design of the lightweight mechanics, integrated sensors and electronics is outlined. The fully sensorized joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced control strategies for compliant manipulation. The mechatronic approach incorporates a tight collaboration between mechanics, electronics and controller design as well. Thus we hope, that important steps towards a new generation of service and personal robots have been achieved.