Abstract
As a driving source of a robot arm to achieve a smooth movement at high power and small size, we configured the series elastic mechanism with an actuator. The series elastic mechanism with torsion bar and the high reduction actuator drives the arm, and another low reduction actuator reduces the vibration characteristics of the arm due to the high reduction of actuator's response delay and the elastic system. In order to drive the proposed mechanism described above in low impedance, the impedance control was adopted. From simulation and experiment results, comparing the response of traditional series elastic drive system and the proposed system, we showed the effectiveness of our proposed system.
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