Structural compliance effects on the accuracy and safety of a R-CUBE haptic device

28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019; Kaiserslautern; Germany; 19 June 2019 through 21 June 2019This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.Axis IT and T (20/01.09.2016), European Regional Development Fun

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored