Jürgen Kunz

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Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most(More)
This paper presents the modeling of the lightweight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable ac-tuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations(More)
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