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

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Abstrakt

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.

OriginalsprogEngelsk
Titel2018 IEEE Conference on Control Technology and Applications (CCTA)
Antal sider7
ForlagIEEE
Publikationsdato26 okt. 2018
Sider273-279
Artikelnummer8511324
ISBN (Trykt)978-1-5386-7699-8
ISBN (Elektronisk)978-1-5386-7698-1
DOI
StatusUdgivet - 26 okt. 2018
Begivenhed2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Danmark
Varighed: 21 aug. 201824 aug. 2018

Konference

Konference2018 IEEE Conference on Control Technology and Applications (CCTA)
LokationThe Scandic Hotel Copenhagen
Land/OmrådeDanmark
ByCopenhagen
Periode21/08/201824/08/2018

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  • WallMoBot

    Østergaard, J. E., Andresen, L., Larsen, O., Bak, T., Sloth, C., Hansen, K. D., Pedersen, R., Krogh, P. & Yousefizadeh, S.

    01/02/201631/01/2019

    Projekter: ProjektForskning

Citationsformater