Modeling and optimization of head-collision of a flexible joint robot

@article{Liang2017ModelingAO,
  title={Modeling and optimization of head-collision of a flexible joint robot},
  author={Jian Wen Liang and Deshan Meng and Xueqian Wang and Bin Liang and Yu She},
  journal={2017 36th Chinese Control Conference (CCC)},
  year={2017},
  pages={6928-6933}
}
In order to ensure the safety of human, robots are designed with flexible features, such as tunable stiffness robot joint and link. However, the collision between the robot with flexible joints and human is not clearly. In this paper, we focus on the collision, in which the characteristics of inertia and flexibility of the robot are comprehensively considered, between flexible joints robot and human. First, we propose an equivalent collision model between flexible joint robot and human head… CONTINUE READING

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