force/position control of a robot manipulator for human-robot interaction
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ID: 148461
2016
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Abstract
With regard to both human and robot capabilities, human-robot interaction
provides several benefits, and this will be significantly developed and
implemented. This work focuses on the development of real-time external
force/position control used for human-robot interaction. The force-controlled
robotic system integrated with proportional integral control was performed
and evaluated to ensure its reliably and timely operational characteristics,
in which appropriate proportional integral gains were experimentally adopted
using a set of virtual crank-turning tests. The designed robotic system is
made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque
sensor and a real-time external PC based control system. A proportional
integral controller has been developed to provide stable and robust force
control on unknown environmental stiffness and motion. To quantify its
effectiveness, the robotic system has been verified through a comprehensive
set of experiments, in which force measurement and ALTER real-time path
control systems were evaluated. In summary, the results indicated
satisfactorily stable performance of the robot force/position control system.
The gain tuning for proportional plus integral control algorithm was
successfully implemented. It can be reported that the best performance as
specified by the error root mean square method of the radial force is
observed with proportional and integral gains of 0.10 and 0.005 respectively.
| Reference Key |
paramin2016thermalforce/position
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|---|---|
| Authors | ;Neranon Paramin;Bicker Robert |
| Journal | Nature |
| Year | 2016 |
| DOI |
10.2298/TSCI151005036N
|
| URL | |
| Keywords | Keywords not found |
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