Meanwhile the institutes elastic articulated robot ElRob got a bit long in the tooth concerning the mechanical as well as the electrical construction. Due to this fact a new concept was developed and resulted in the new robot Ella. Within this process the electronics were brought up to the state-of-the-art. Additionally instead of measuring the curvature with strain gauges, angular rate as well as accelerations sensors are used. With this additional sensor information it is possible to achieve sufficient vibration suppression during trajectory as well as disturbance control.
Institut für Robotik
Johannes Kepler Universität Linz
Altenberger Straße 69
Science Park 1, 5. Stock, Raum MT535