Research on the Impedance Control of Human-robot Cooperative Manipulator Based on Human-friendly Technology

被引：0

作者：

Wu, Lihua ^{[1
]}

Liang, Wang ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF THE 2015 3RD INTERNATIONAL CONFERENCE ON MACHINERY, MATERIALS AND INFORMATION TECHNOLOGY APPLICATIONS | 2015年 / 35卷

关键词：

Human-Robot Cooperation; Impedance Control; Simulink Simulation; Human-Friendly;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper had studied the human-robot cooperation with moving an object based on a three DOF (Degree of Freedom) manipulator. Firstly, the impedance control based on impedance model for the manipulator had been designed, and confirmed through the Simulink simulation. And then, the impedance parameters of the manipulator were obtained by using the least square method. For the human-friendly, the paper had proposed a new method. That is to compare the impedance characteristics of the manipulator with the impedance model of the human-human cooperation. The paper analyzed the human-friendly in quantitative by calculating the percentage error of the impedance parameters. Finally, the paper verified the human-friendly of the manipulator using the method. And it found that the designed impedance control can make the manipulator be human-friendly

引用

页码：1110 / 1115

页数：6