文章基本信息

标题：Control of a Robot Axis with Effort Feedback
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作者：Sofia Torres ; Pierre-Philippe Robet ; Yannick Aoustin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：10
页码：2956-2961
DOI：10.1016/j.ifacol.2022.10.181
语种：English
出版社：Elsevier
摘要：This paper tackles the control design of a robot to handle said interaction. A new model is written of an EMPS Prototype to emulate a robot-environment scenario, including now two masses and with their interaction translated as a spring and damper system, followed by the implementation of a cascaded loop of force-velocity control of the robot axis. A new formulation of the force control is also designed and implemented considering the impedance control theory. Finally, this model and its cascaded loop control is validated against real values through the experiment proving its accuracy.
关键词：control;robotics;impedance;experimental validation