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

共 50 条

[31] Human-friendly care robot system for the elderly
Yoo, DH
Hong, HS
Kwon, HJ
Chung, MJ
ADVANCES IN REHABILITATION ROBOTICS: HUMAN-FRIENDLY TECHNOLOGIES ON MOVEMENT ASSISTANCE AND RESTORATION FOR PEOPLE WITH DISABILITIES, 2004, 306 : 323 - 332
[32] Development of a steward robot for human-friendly interaction
Lee, Hyong-Euk
Kim, Youngmin
Park, Kwang-Hyun
Bien, Z. Zenn
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, 2006, : 280 - +
[33] Human-friendly Robot Navigation in Dynamic Environments
Guzzi, Jerome
Giusti, Alessandro
Gambardella, Luca M.
Theraulaz, Guy
Di Caro, Gianni A.
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2013, : 423 - 430
[34] Collision-tolerant control of human-friendly robot with viscoelastic trunk
Lim, HO
Tanie, K
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1999, 4 (04) : 417 - 427
[35] Life support based on human-friendly motion control
Oh S.
Hori Y.
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 2011, 77 (05): : 465 - 469
[36] A Study on Simulator of Human-Robot Cooperative Manipulator for Dental Implant Surgery
Kim, Gwangho
Seo, Hojin
Im, Sungbeen
Kang, Dongwan
Jeong, Sanghwa
ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, 2009, : 2125 - +
[37] A Motion Control of Two-wheels Driven Mobile Manipulator for Human-Robot Cooperative Transportation
Nozaki, Kohei
Murakami, Toshiyuki
IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 2009, : 1467 - +
[38] Towards Human-Friendly Efficient Control of Multi-Robot Teams
Stoica, Adrian
Theodoridis, Theodoros
Hu, Huosheng
McDonald-Maier, Klaus
Barrero, David F.
PROCEEDINGS OF THE 2013 INTERNATIONAL CONFERENCE ON COLLABORATION TECHNOLOGIES AND SYSTEMS (CTS), 2013, : 226 - 231
[39] Is soft computing in technology and medicine human-friendly?
Seising, Rudolf
Bradley, Jeremy
KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS, PT 3, PROCEEDINGS, 2006, 4253 : 366 - 373
[40] Impedance Learning-Based Adaptive Control for Human-Robot Interaction
Sharifi, Mojtaba
Azimi, Vahid
Mushahwar, Vivian K.
Tavakoli, Mahdi
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2022, 30 (04) : 1345 - 1358

← 1 2 3 4 5 →