Elastic Robot Links: Curse or Blessing? (Part 2)

TUDOR robot

In first place, elasticity in the links of robot arms prolongs settling times and deteriorates the positioning accuracy. However, the feasibility of fast and precise end effector positioning for an elastic link arm has been exemplified with ball catching experiments[1] Malzahn, Jörn, Anh Son Phung, and Torsten Bertram. “A Multi-Link-Flexible Robot Arm Catching Thrown Balls.” 7th … Read more

Simulation of the Bionic Handling Assistant

Torus model to simulate BHA`s kinematic structure

In April 2010 the Bionic Handling Assistant (BHA) from Festo was revealed to public at the Hannover Fair 2010 [1] and won several prices like the German Future Award 2010 [2] . In February 2011 we got our own BHA and were pretty excited because we knew at that time no-one could do with it what we wanted to do with it: controlling … Read more