COMPI

Compliant Robot Arm


COMPI
COMPI Robot (Photo: Annemarie Hirth, DFKI GmbH)

Technical Details

Size: ca. 94x15x6,5 cm
Weight: ca. 4,75kg
Power supply: 48 V DC
Speed: Single robot joint up to ca. 360°/sec.
Actuation/ Engine:
BLDC-Drives, 1:100 Harmonic Drive Transmission
Sensors:
Position (absolute, incremental), motor current
Communication:
LVDS daisy chain

Organisational Details

Team: Team IV - Robot Control
Application Field: Logistics, Production and Consumer
Related Projects: BesMan
Behaviors for Mobile Manipulation (05.2012- 07.2016)
COROMA
Cognitively enhanced robot for flexible manufacturing of metal and composite parts (10.2016- 09.2019)
FourByThree
Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications (12.2014- 11.2017)
Related Robots: ARTEMIS
DLR SpaceBot Cup 2013 Rover
Related Software: BOLeRo
Behavior Optimization and Learning for Robots
Rock
Robot Construction Kit

System description

The robotic arm COMPI is composed of six rotational joints. Each of them is controlled by a FPGA, which implements different control modes. In particular, this system is used as platform to research dynamic control approaches. Such control strategies play an important role for force- or torque-based tasks, e.g. in the field of Human-Robot-Interaction. The obtained results are continuously transferred to other robotic systems, which have similar kinematic structures as sub-system.

The different modes for the joint control of position, velocity and current allow various high-level control strategies for the arm. Mode-switching and reconfiguration is possible during runtime. The limitation of all joint control variables is ensured in every mode. In addition, friction identification and compensation is implemented on the FPGA. A torque-based high-level controller then uses an identified dynamic model of the arm to compensate for non-linear effects such as gravity. This allows to control compliantly.

Videos

COMPI: Roboterarm mit nachgiebiger Regelung

Nachgiebiges Verhalten durch modell-basierte Regelung ermöglicht Mensch-Roboter-Interaktion.

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© DFKI GmbH
last updated 17.08.2017
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