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 proceedingArticle in proceedingResearchpeer-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 languageEnglish
Title of host publication2018 IEEE Conference on Control Technology and Applications (CCTA)
Number of pages7
PublisherIEEE
Publication date26 Oct 2018
Pages273-279
Article number8511324
ISBN (Print)978-1-5386-7699-8
ISBN (Electronic)978-1-5386-7698-1
DOIs
Publication statusPublished - 26 Oct 2018
Event2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Denmark
Duration: 21 Aug 201824 Aug 2018

Conference

Conference2018 IEEE Conference on Control Technology and Applications (CCTA)
LocationThe Scandic Hotel Copenhagen
CountryDenmark
CityCopenhagen
Period21/08/201824/08/2018

Keywords

  • robot
  • Control system
  • load cells

Fingerprint Dive into the research topics of 'Implementation of Admittance Control on a Construction Robot using Load Cells'. Together they form a unique fingerprint.

Cite this