Projekter pr. år
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 |
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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 | |
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) |
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Lokation | The Scandic Hotel Copenhagen |
Land/Område | Danmark |
By | Copenhagen |
Periode | 21/08/2018 → 24/08/2018 |
Fingeraftryk
Dyk ned i forskningsemnerne om 'Implementation of Admittance Control on a Construction Robot using Load Cells'. Sammen danner de et unikt fingeraftryk.Projekter
- 1 Afsluttet
-
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
Aktiviteter
- 1 Værtskab for gæsteforsker
-
Misha Bekker
Bak, T. (Vært) & Pedersen, R. (Vært)
1 okt. 2017 → 1 feb. 2018Aktivitet: Værtskab for gæsteforsker › Værtskab for gæsteforsker