Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator

This paper develops a six-degree-of-freedom lightweight collaborative manipulator with real-time dynamic trajectory planning and active compliance control.

Firstly, a novel motor installation, joint transmission, and link design method is put forward to reduce the inertia of the links and improve intrinsic safety. At the same time, to enhance the dynamic operation capability and quick response ability of the manipulator, a real-time smooth planning of position and orientation under initial/end pose and velocity constraints is proposed. The adaptability to the environment is improved by the active compliance control.