文章基本信息

标题：Accurate force control and co-manipulation control using hybrid external command
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作者：S. Devie ; P.Ph. Robet ; Y. Aoustin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：2235-2240
DOI：10.1016/j.ifacol.2017.08.931
语种：English
出版社：Elsevier
摘要：AbstractThe control of the interaction between a robot and the environment is very important in the medical area. The control of this interaction can be realized with either a force control, which does not need human intervention, or co-manipulation, where the human operator moves the robot himself. This paper focuses on a simple hybrid external control scheme allowing these two applications by modelling the robot as a rigid structure interacting with the environment thanks to a spring representing the force sensor. Simulations were used to test the control system. Several experiments prove the accuracy of the control, for a one degree of freedom robot.
关键词：KeywordsRobotsforce sensormechatronic systemsForce controlco-manipulation