Title :
Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER
Author :
Hyo Won Jeon ; Kim, Jeong Seob ; Jung, Seul
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon
Abstract :
This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted.
Keywords :
control system synthesis; field programmable gate arrays; force control; human-robot interaction; manipulators; position control; robust control; FPGA chip; ROBOKER; hand-shaking task; impedance controller; position based impedance force control; robot; robot manipulator; robust position controller; Automatic control; Control systems; Design engineering; Field programmable gate arrays; Force control; Human robot interaction; Impedance; Manipulators; Mechatronics; Service robots; Roboker; impedance force controller; interaction;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694416
