COMPI: Development of a 6-DOF Compliant Robot Arm for Human-Robot Cooperation
In Proceedings of the 8th International Workshop on Human-Friendly Robotics, (HFR-2015), 21.10.-23.10.2015, Munich, o.A., 2015. Technische Universität München (TUM).
This paper presents the compliant robot arm
COMPI, designed having in mind some characteristics to make
it suitable for human-robot collaboration: namely, compliance
and lightweight. This should allow safe human-robot collaboration
and contact with the environment without requiring
external sensors or the delimitation of separate workspaces for
robot and humans. The compliance in COMPI is achieved via
active control by using a dynamic controller based on motor
currents to estimate the joint torques (remarkably, the robot
is using Brushless DC motors with gears of ratio 1:100) and
making use of a experimentally identified robot dynamical
model. The robot arm uses a distributed joint control approach
in which each single joint is equipped with on-board electronics
including computing power (FPGAs), power electronics and
local sensors (e.g. joint position and motor phase currents).
The experimental results show a very good positioning tracking
performance as well as compliance to external forces.