Lichtgewicht Robots die de Natuurlijke Dynamica Uitbuiten: Naar een Applicatie-Specifiek Robotontwerp voor een Energie-Ëfficiente Uitvoering

Typical robot manipulator control is based on the inverse kinematics of the system. This approach requires stiff links, resulting in structures with a high mass, especially for heavy payloads. As a consequence, the kinetic energy present in the system when in motion is also high. This translates to a high energy consumption, and impact energy in case of a collision with the environment, or a person. This thesis explores an alternative design and control approach for commonly occurring pick-and-place operations with the goal of developing lightweight, inherently safe, and energy-efficient solutions. Instead of dictating the robot design around the desired inverse kinematic model, an alternative, application-centred design process is proposed. The different aspects of the mechatronic design are co-developed in a holistic manner. Improvements in one design aspect might be exploited by another, simplifying the overall complexity. This results in a 'good-enough' solution, that leaves room to optimise other aspects of the design. This approach is worked out for pick-and-place tasks that do not require high tracking precision throughout the execution by exploiting the inherent flexibility and natural dynamics of the system. Due to their low moving mass and excellent strength characteristics, solutions featuring cable-based systems are explored.