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Chun-Yeon Lin Wen-Hao Chen Yu-Han Tsai

Abstract

This paper presents the development of a dual-joint robotic arm with harmonic drive actuators (HDA) for compliant motion control and accurate torque estimation. A flexible joint model is proposed to estimate the dynamic motion of the robotic arm. Torque and displacement (T-D) sensors are developed and placed at the joints of the harmonic drive to estimate the torque value by reading the output angle of the load side, accounting for kinematic torsion compensation. Impedance and admittance control strategies are investigated through simulations to enhance safety during human-robot interaction, and the effects of various parameters on the system are investigated through simulations. The prototype of a robotic arm has been developed. The robotic arm is given specific working paths to simulate working scenarios in both simulations and experiments. External disturbances are applied to observe the two controllers’ compliance and position-tracking capabilities.

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Keywords

Harmonic drive, compliant motion control, human-robot interaction

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