Title :
Force Analysis of Arm Wrestling Entertainment System and its Application to Control Design
Author :
Chen, Feng ; Yu, Yong ; Song, Quanjun ; Ge, Yunjian
Abstract :
This paper analyzes the changes in interaction force between the arm wrestling entertainment system and human hand, and presents a control strategy of force/velocity for arm wrestling robot (AWR) system. Based on the mass-spring-viscidity system model, the AWR control system adjusts the motor rotating direction and speed by using the information of force and angular speed feedback. This robotic machine performs arm wrestling games with people on a table. And, we can make the competition interesting by choosing the different competition rank. The system has good adaptability and the feasibility of the control method is demonstrated by the experiment results
Keywords :
control system synthesis; feedback; force control; humanoid robots; manipulators; springs (mechanical); velocity control; angular speed feedback; arm wrestling entertainment system; control design; force analysis; interaction force; mass-spring-viscidity system model; motor rotating direction; velocity control; Anthropomorphism; Control design; Control systems; Displays; Force control; Force feedback; Fuzzy systems; Human robot interaction; Velocity control; Wrist; AWR; Controlling force; Force/velocity control; Mass-spring-viscidity; system model;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257544
