Resumé
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 |
| 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) |
|---|---|
| Lokation | The Scandic Hotel Copenhagen |
| Land | Danmark |
| By | Copenhagen |
| Periode | 21/08/2018 → 24/08/2018 |
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Implementation of Admittance Control on a Construction Robot using Load Cells. / Bekker, Misha; Pedersen, Rasmus; Méndez, Juan de Dios Flores; Rasmussen, Mads Høi; Bak, Thomas.
2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 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
ER -