The harmonious robot
Identifieur interne : 001619 ( Istex/Curation ); précédent : 001618; suivant : 001620The harmonious robot
Auteurs : Faye Smith ; Brian RooksSource :
- Industrial Robot: An International Journal [ 0143-991X ] ; 2006-03-01.
Abstract
Purpose To describe the design methodology and humancentre functionality of the whole arm manipulator WAM developed originally at MIT and brought to commercial fruition by Barrett Technology. Designmethodologyapproach The WAM arm is driven by cableandcylinder transmissions, which uniquely exhibits zero backlash with low friction and low inertia, endowing the WAM with good openloop backdrivability. Two key benefits of the high backdrivability are motion control through joint torque control, which enables the intrinsic sensing of forces over the whole arm and makes it inherently safe to humans operation directly in the Cartesian domain without the need for inverse kinematics calculations, providing very rapid responsiveness as demonstrated in the baseball robot of Tokyo University. Another benefit of the WAM is its kinematic redundancy through the 4dof degreesoffreedom main axes 7dof with the wrist. Recent major advances in the WAM include the puck, the world's smallest fullyfeatured servocontroller that eliminates the need for an external controller cabinet, and a safety circuit that limits, by a set amount, the power flow from the WAM to a person or object while not inhibiting the reverse from human to arm. The WAM's intrinsic force control has allowed the development of softwaredefined haptic walls, which are being exploited by partners such as the CMU Carnegie Mellon University Robotics Institute, in patient rehabilitation, and Mako Surgical, for use in joint surgery. Findings The Barrett WAM's good openloop backdrivability has initiated the development of novel humancentred robot applications that will expand the use of robots outside the factory and into humaninhabited areas. Originalityvalue Presents the design methodology, features and applications of the Barrett WAM humancentred robot.
Url:
DOI: 10.1108/01439910610651446
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