Cobots appear and support humans in many situations in our daily life, e.g., search and rescue missions ( Govindarajan et al., 2016), surveillance and inspection ( Donadio et al., 2018 Brito et al., 2020), medical support ( Mokaram et al., 2017), etc. Then the effectiveness of the controller is also proven by experiments on the mechanical prototype.Ĭobots are robots intended for direct collaborative work with a human operator ( Wannasuphoprasit et al., 1997 Peshkin et al., 2001). The control algorithm is first validated in simulation. In particular, the inner control loop is designed as a model reference adaptive controller (MRAC) to deal with uncertainties in the system parameters, while the outer control loop utilises a fuzzy proportional-integral controller to reduce the effect of external disturbances on the load. The control algorithm is a two loops control scheme. The mechanical design of the robot and a position control algorithm are presented. Based on the newly design elastic joint, a highly-compliant multi-purpose 2-DOF robot arm for safe human-robot interaction is also introduced. To give researchers a solution that is inexpensive, easily customisable, and fast to fabricate, a newly-designed low-cost, and open-source design of an elastic joint is presented in this work. However, most of the available elastic robots are relatively costly or difficult to construct. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. This type of actuation scheme mitigates the damage caused by unexpected collision. Compliant actuators are very relevant for the design of cobots. They gradually become noticeable nowadays. 3Department of Engineering Sciences, University of Agder (UiA), Grimstad, NorwayĬollaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space.2Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam.1Department of Control Engineering and Automation, Faculty of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City, Vietnam.
Hua Minh Tuan 1,2, Filippo Sanfilippo 3* and Nguyen Vinh Hao 1,2