Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of an Embedded System for an Interaction between Robot Arm and Human Arm Based on Force Control

힘 제어 기반의 로봇 팔과 인간 팔의 상호 작용을 위한 임베디드 시스템 설계

  • 전효원 (LIG 넥스원 연구소) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2009.11.01
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Abstract

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

Keywords

References

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  1. Impedance-Control Based Peg-in-Hole Assembly with a 6 DOF Manipulator vol.35, pp.4, 2011, https://doi.org/10.3795/KSME-A.2011.35.4.347