volume 11, issue 5, P2433 2021
DOI: 10.3390/app11052433
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Yang Yu, Shimin Wei, Haiyan Sheng, Yingkun Zhang

Abstract: In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental collision, combined with the manipulator safety index (MSI) and human body injury thresholds, the motion speed and joint stiffness of the robot are optimized in advance. Secondly, using hyperbolic tangent function for reference, the relationship between joint …

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