Intuitive Force Feedback for Robot-Assisted Load Transport

被引:0
|
作者
Celik, Cankan [1 ,2 ]
Ankarali, Mustafa Mert [1 ]
机构
[1] Middle East Tech Univ, ROMER, Ctr Robot & AI, TR-06800 Ankara, Turkiye
[2] Teknolus Energy, TR-06510 Ankara, Turkiye
来源
2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024 | 2024年
关键词
D O I
10.1109/RO-MAN60168.2024.10731296
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper introduces a force-guided robotic platform that aims to reduce musculoskeletal injuries in manufacturing and healthcare environments. The platform utilizes force feedback algorithms, system modeling with distinct force and virtual torque processing, and virtual dynamics for seamless control of heavy loads. Similar mobile robot platforms in previous studies were designed for rehabilitation purposes. This study focuses on heavy-duty applications using a cost-effective load cell configuration on a differential drive system. We propose a novel model that simplifies the human-robot interaction analysis by decomposing pushing forces into linear and rotational components represented by a combination of linear and rotational spring-damper systems. These elements are integrated into the dynamics of the mobile robot platform for a comprehensive representation of human-robot interaction. Additionally, we developed a new control method to counteract large force fluctuations and anti-integral windup with dynamic clamping to improve system robustness.
引用
收藏
页码:405 / 411
页数:7
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