We present theoretical and experimental results regarding the development and the control of a two-link robotic arm with remotized actuation via rolling diaphragm hydrostatic transmissions. We propose a dynamical model capturing the essential dynamics of the developed transmission/robot ensemble and implement a control strategy consisting of two nested loops, the inner one performing high-bandwidth joint torque regulation and the outer one producing various types of compliance responses for effective human-robot interactions. Extensive sets of experiments, testing both the low-level torque controller and the high-level compliance controller, confirm the effectiveness of the proposed hardware-software remotization architecture.

Lightweight Human-Friendly Robotic Arm Based on Transparent Hydrostatic Transmissions / Bolignari, Marco; Rizzello, Gianluca; Zaccarian, Luca; Fontana, Marco. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 39:5(2023), pp. 4051-4064. [10.1109/tro.2023.3290310]

Lightweight Human-Friendly Robotic Arm Based on Transparent Hydrostatic Transmissions

Bolignari, Marco;Zaccarian, Luca;Fontana, Marco
2023-01-01

Abstract

We present theoretical and experimental results regarding the development and the control of a two-link robotic arm with remotized actuation via rolling diaphragm hydrostatic transmissions. We propose a dynamical model capturing the essential dynamics of the developed transmission/robot ensemble and implement a control strategy consisting of two nested loops, the inner one performing high-bandwidth joint torque regulation and the outer one producing various types of compliance responses for effective human-robot interactions. Extensive sets of experiments, testing both the low-level torque controller and the high-level compliance controller, confirm the effectiveness of the proposed hardware-software remotization architecture.
2023
5
Bolignari, Marco; Rizzello, Gianluca; Zaccarian, Luca; Fontana, Marco
Lightweight Human-Friendly Robotic Arm Based on Transparent Hydrostatic Transmissions / Bolignari, Marco; Rizzello, Gianluca; Zaccarian, Luca; Fontana, Marco. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 39:5(2023), pp. 4051-4064. [10.1109/tro.2023.3290310]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/403778
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