– The paper seeks to present a new generation of torque‐controlled light‐weight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center., – An integrated mechatronic design approach for LWR is presented. Owing to the partially unknown properties of the environment, robustness of planning and control with respect to environmental variations is crucial. Robustness is achieved in this context through sensor redundancy and passivity‐based control. In the DLR root concept, joint torque sensing plays a central role., – In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load‐to‐weight ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, compliant control on joint and Cartesian level., – The DLR robots are excellent research platforms for experimentation of advanced robotics algorithms. Space and medical robotics are further areas for which these robots were designed and hopefully will be applied within the next years. Potential industrial application fields are the fast automatic assembly as well as manufacturing activities done in cooperation with humans (industrial robot assistant). The described functionalities are of course highly relevant also for the potentially huge market of service robotics. The LWR technology was transferred to KUKA Roboter GmbH, which will bring the first arms on the market in the near future., – This paper introduces a new type of LWR with torque sensing in each joint and describes a consistent approach for using these sensors for manipulation in human environments. To the best of one's knowledge, the first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented.

中文翻译：

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DLR 轻型机器人：人类环境中机器人的设计和控制概念

– 本文旨在介绍德国航空航天中心机器人与机电一体化研究所开发的新一代扭矩控制轻型机器人 (LWR)。 – 介绍了 LWR 的集成机电一体化设计方法。由于环境的部分未知属性，针对环境变化的规划和控制的稳健性至关重要。在这种情况下，通过传感器冗余和基于无源的控制来实现鲁棒性。在 DLR 根概念中，关节扭矩传感起着核心作用。 – 为了在非结构化环境中行动并与人类互动，机器人具有区别于经典机器人的设计特征和控制/软件功能，例如：负载-重量比为 1:1，关节扭矩感应，主动减振，灵敏的碰撞检测、关节和笛卡尔水平的顺从控制。 – DLR 机器人是用于实验先进机器人算法的优秀研究平台。太空和医疗机器人是这些机器人设计的更多领域，并有望在未来几年内得到应用。潜在的工业应用领域是快速自动装配以及与人类合作完成的制造活动（工业机器人助手）。当然，所描述的功能也与潜在的巨大服务机器人市场高度相关。LWR 技术已转让给 KUKA Roboter GmbH，这将在不久的将来将第一批手臂推向市场。– 本文介绍了一种新型 LWR，每个关节都带有扭矩感应，并描述了在人类环境中使用这些传感器进行操作的一致方法。据我们所知，首次使用标准化测试设施对人机碰撞过程中可能的伤害进行系统的实验评估。