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

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › 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.

Originalsprog	Engelsk
Titel	2018 IEEE Conference on Control Technology and Applications (CCTA)
Antal sider	7
Forlag	IEEE (Institute of Electrical and Electronics Engineers)
Publikationsdato	26 okt. 2018
Sider	273-279
Artikelnummer	8511324
ISBN (Trykt)	978-1-5386-7699-8
ISBN (Elektronisk)	978-1-5386-7698-1
DOI	https://doi.org/10.1109/CCTA.2018.8511324
Status	Udgivet - 26 okt. 2018
Begivenhed	2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Danmark Varighed: 21 aug. 2018 → 24 aug. 2018

Konference

Konference	2018 IEEE Conference on Control Technology and Applications (CCTA)
Lokation	The Scandic Hotel Copenhagen
Land/Område	Danmark
By	Copenhagen
Periode	21/08/2018 → 24/08/2018

Adgang til dokumentet

10.1109/CCTA.2018.8511324

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WallMoBot
Østergaard, J. E. (Kontaktperson), Andresen, L. (Kontaktperson), Larsen, O. (Kontaktperson), Bak, T. (Kontaktperson), Sloth, C. (Kontaktperson), Hansen, K. D. (Kontaktperson), Pedersen, R. (Kontaktperson), Krogh, P. (Kontaktperson) & Yousefizadeh, S. (Projektdeltager)
01/02/2016 → 31/01/2019
Projekter: Projekt › Forskning

Misha Bekker
Bak, T. (Vært) & Pedersen, R. (Vært)
1 okt. 2017 → 1 feb. 2018
Aktivitet: Værtskab for gæsteforsker › Værtskab for gæsteforsker

Citationsformater

@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 (Institute of Electrical and Electronics Engineers)",

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. i 2018 IEEE Conference on Control Technology and Applications (CCTA)., 8511324, IEEE (Institute of Electrical and Electronics Engineers), s. 273-279, 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Danmark, 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 (Institute of Electrical and Electronics Engineers), 2018. s. 273-279 8511324.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › 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

UR - http://www.scopus.com/inward/record.url?scp=85056865580&partnerID=8YFLogxK

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 (Institute of Electrical and Electronics Engineers)

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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