Compliant manipulators on graphs

Authors

S.S. Groothuis, S. Stramigioli, R. Carloni

Abstract

This paper proposes a modeling method for generic serial-chain compliant robotic manipulators. It is based on graph theory and port-Hamiltonian systems, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity allows a very simple and straight-forward change in a manipulator’s actuator morphology. An example of a two degree of freedom planar manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than traditional Euler-Lagrange models.

Citation

• Journal: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Year: 2015
• Volume:
• Issue:
• Pages: 6536–6542
• Publisher: IEEE
• DOI: 10.1109/iros.2015.7354311

BibTeX

@inproceedings{Groothuis_2015,
  title={{Compliant manipulators on graphs}},
  DOI={10.1109/iros.2015.7354311},
  booktitle={{2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
  publisher={IEEE},
  author={Groothuis, S.S. and Stramigioli, S. and Carloni, R.},
  year={2015},
  pages={6536--6542}
}

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References

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