Safe Reaction of a Robot Arm with Torque Sensing Ability on the External Disturbance and Impact: Implementation of a New Variable Impedance Control

The paper focuses on control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The algorithm of impact control imparting reflex action ability to the robot arm was proposed. The experimental results showed successful recognition and realization of three different types of interaction: service task, co-operative task, and impact state

Development Of Three-Dimensional Animation Of Spherical Motion Platform Used In Virtual Reality Systems

the paper is concerned with development of the high-performance and simple system of the motion effect simulation on the operator and his working place. In result of scientific-research work the multipurpose, simple and reliable mechanical system for spherical motion reproducing of the operator work place has been designed. Developed animation model of spatial motion visualization of the platform and operator permits to evaluate the overall dimensions of the motion simulator, possible position area of operator, determine the ways of compact prototype creation and script of man body motion in space. Description of different types of movable platforms, geometry of the spherical motion platform on the basis of the four-bar linkage and its three-dimensional model has been presented