2024
A Parallel SCARA Robot With Low-Impedance Backdrivability and a Remotely Operated Gripper With Unlimited Rotation
RA-L 2024
This letter presents a backdrivable (4+1)-degree-of-freedom SCARA parallel robot including a remotely operated gripper with unlimited rotation for intuitive sensorless low-impedance physical human-robot interaction. The kinematic modelling of the robot is first recalled and the novel remotely operat