An Elephant’s Trunk-Inspired Robotic Arm – Trajectory Determination and Control

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 5Sprache: EnglischTyp: PDF

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Behrens, Roland; Poggendorf, Maik; Schulenburg, Erik; Elkmann, Norbert (Fraunhofer Institute for Factory Operation and Automation (IFF) Magdeburg, Germany)

A hyper-redundant robotic arm, which is inspired by an elephant’s trunk, was specifically designed as a mechatronic solution for safe collaboration with human beings by following a new approach for safe Human-Robot Interaction (HRI). Due to its hyper-redundant characteristics, it is able to move in highly flexible patterns, just like an elephant’s trunk. After introducing the technical concept, the basics to compute trajectories will be presented. Furthermore, the control approach will be described.