A Study on Massage Robot Using Robot Simulator with Contact Model

被引：0
|
作者：
Oh, Seung Hwa [1 ]
Lee, Chang-Ho [2 ]
Park, Sung-Ho [3 ]
Kim, Sung-Soo [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Daejeon, South Korea
[2] TYMICT, Smart Solut Team, Chungnam, South Korea
[3] Magenta Robot, Daejeon, South Korea
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2022年 / 46卷 / 10期
关键词：
Massage Robot((sic)); Robot Simulator((sic)); Admittance Filter((sic)); Contact Force Control((sic));
D O I：
10.3795/KSME-A.2022.46.10.889
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Contact force control simulations were performed for a massage robot using a robot simulator. MATLAB and RecurDyn's co-simulation and admittance filter were applied to simulate the contact force control of the massage robot. The effectiveness of the developed robot simulator was investigated based on the simulations by maintaining the target contact force of the massage ball when the massage robot massaged materials of various rigidities. Simulation results of the massage robot model were validated by comparing them with experimental results obtained on artificial skin and ribcage tests.
引用
收藏
页码：889 / 896
页数：8
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