Implementation of Admittance Control on a Construction Robot using Load Cells

Misha Bekker; Rasmus Pedersen; Juan de Dios Flores Méndez; Mads Høi Rasmussen; Thomas Bak

doi:10.1109/CCTA.2018.8511324

Implementation of Admittance Control on a Construction Robot using Load Cells

Misha Bekker, Rasmus Pedersen, Juan de Dios Flores Méndez, Mads Høi Rasmussen, Thomas Bak

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

Abstract

Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

Original language	English
Title of host publication	2018 IEEE Conference on Control Technology and Applications (CCTA)
Number of pages	7
Publisher	IEEE
Publication date	26 Oct 2018
Pages	273-279
Article number	8511324
ISBN (Print)	978-1-5386-7699-8
ISBN (Electronic)	978-1-5386-7698-1
DOIs	https://doi.org/10.1109/CCTA.2018.8511324
Publication status	Published - 26 Oct 2018
Event	2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Denmark Duration: 21 Aug 2018 → 24 Aug 2018

Conference

Conference	2018 IEEE Conference on Control Technology and Applications (CCTA)
Location	The Scandic Hotel Copenhagen
Country/Territory	Denmark
City	Copenhagen
Period	21/08/2018 → 24/08/2018

Keywords

robot
Control system
load cells

Access to Document

10.1109/CCTA.2018.8511324

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Cite this

@inproceedings{066138c5c73a43e6839c3e8e490728c9,

title = "Implementation of Admittance Control on a Construction Robot using Load Cells",

abstract = "Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.",

keywords = "robot, Control system, load cells",

author = "Misha Bekker and Rasmus Pedersen and M{\'e}ndez, {Juan de Dios Flores} and Rasmussen, {Mads H{\o}i} and Thomas Bak",

year = "2018",

month = oct,

day = "26",

doi = "10.1109/CCTA.2018.8511324",

language = "English",

isbn = "978-1-5386-7699-8",

pages = "273--279",

booktitle = "2018 IEEE Conference on Control Technology and Applications (CCTA)",

publisher = "IEEE",

address = "United States",

note = "2018 IEEE Conference on Control Technology and Applications (CCTA) ; Conference date: 21-08-2018 Through 24-08-2018",

}

Bekker, M, Pedersen, R, Méndez, JDDF, Rasmussen, MH & Bak, T 2018, Implementation of Admittance Control on a Construction Robot using Load Cells. in 2018 IEEE Conference on Control Technology and Applications (CCTA)., 8511324, IEEE, pp. 273-279, 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 21/08/2018. https://doi.org/10.1109/CCTA.2018.8511324

Implementation of Admittance Control on a Construction Robot using Load Cells. / Bekker, Misha; Pedersen, Rasmus; Méndez, Juan de Dios Flores et al.
2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. p. 273-279 8511324.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Implementation of Admittance Control on a Construction Robot using Load Cells

AU - Bekker, Misha

AU - Pedersen, Rasmus

AU - Méndez, Juan de Dios Flores

AU - Rasmussen, Mads Høi

AU - Bak, Thomas

PY - 2018/10/26

Y1 - 2018/10/26

N2 - Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

AB - Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

KW - robot

KW - Control system

KW - load cells

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U2 - 10.1109/CCTA.2018.8511324

DO - 10.1109/CCTA.2018.8511324

M3 - Article in proceeding

SN - 978-1-5386-7699-8

SP - 273

EP - 279

BT - 2018 IEEE Conference on Control Technology and Applications (CCTA)

PB - IEEE

T2 - 2018 IEEE Conference on Control Technology and Applications (CCTA)

Y2 - 21 August 2018 through 24 August 2018

ER -

Implementation of Admittance Control on a Construction Robot using Load Cells

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Implementation of Admittance Control on a Construction Robot using Load Cells

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