Force/position control of a robot manipulator for human-robot interaction
نویسندگان
چکیده
منابع مشابه
Force/position Control of Robot Manipulator for Human-robot Interaction
With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure it...
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Muhammad Rehan Ahmed (2011): Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction. Örebro Studies in Technology 45, 122 pp. Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human ...
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a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
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The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
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ژورنال
عنوان ژورنال: Thermal Science
سال: 2016
ISSN: 0354-9836,2334-7163
DOI: 10.2298/tsci151005036n