Title :
Robotic force amplification with free space motion capability
Author :
Labrecque, Pascal D. ; Gosselin, Clement
Author_Institution :
Dept. of Mech. Eng., Univ. Laval, Quebec City, QC, Canada
fDate :
May 31 2014-June 7 2014
Abstract :
A control algorithm based on admittance regulation is proposed for human-robot cooperative force amplification. The controller is particularly suitable for physical interaction in both free space and constrained motions thanks to an active transition between the two modes. It is also able to cancel possible high frequency oscillations due to the contact with the environment. A mathematical analysis of the controller is provided and a preliminary experimental validation is performed on a 1-dof test-bench.
Keywords :
end effectors; force control; human-robot interaction; mathematical analysis; motion control; admittance regulation; constrained motion; control algorithm; free space motion capability; human-robot cooperative force amplification; mathematical analysis; robotic force amplification; Admittance; Aerospace electronics; Damping; Force; Robot sensing systems; Stability analysis;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6906600
