Implementation of Admittance Control on a Construction Robot Using Load Cells

Misha Bekker, Rasmus Pedersen, Juan De Dios Flores-Mendez, Mads Høi Rasmussen, Thomas Bak

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

OriginalsprogEngelsk
TitelProceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)
ForlagIEEE
Publikationsdato26. okt. 2018
Sider273-279
ISBN (Trykt)978-1-5386-7699-8
ISBN (Elektronisk)978-1-5386-7698-1
DOI
StatusUdgivet - 26. okt. 2018
Begivenhed2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Danmark
Varighed: 21. aug. 201824. aug. 2018

Konference

Konference2nd IEEE Conference on Control Technology and Applications, CCTA 2018
LandDanmark
ByCopenhagen
Periode21/08/201824/08/2018
SponsorIEEE Control Systems Society

Fingeraftryk

Robots
Human robot interaction
Testbeds
Experiments

Citer dette

Bekker, M., Pedersen, R., De Dios Flores-Mendez, J., Rasmussen, M. H., & Bak, T. (2018). Implementation of Admittance Control on a Construction Robot Using Load Cells. I Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA) (s. 273-279). IEEE. https://doi.org/10.1109/CCTA.2018.8511324
Bekker, Misha ; Pedersen, Rasmus ; De Dios Flores-Mendez, Juan ; Rasmussen, Mads Høi ; Bak, Thomas. / Implementation of Admittance Control on a Construction Robot Using Load Cells. Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. s. 273-279
@inproceedings{ccc5ace09acc430b97971fec170bad0d,
title = "Implementation of Admittance Control on a Construction Robot Using Load Cells",
abstract = "Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.",
author = "Misha Bekker and Rasmus Pedersen and {De Dios Flores-Mendez}, Juan and Rasmussen, {Mads H{\o}i} and Thomas Bak",
year = "2018",
month = "10",
day = "26",
doi = "10.1109/CCTA.2018.8511324",
language = "English",
isbn = "978-1-5386-7699-8",
pages = "273--279",
booktitle = "Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)",
publisher = "IEEE",
address = "United States",

}

Bekker, M, Pedersen, R, De Dios Flores-Mendez, J, Rasmussen, MH & Bak, T 2018, Implementation of Admittance Control on a Construction Robot Using Load Cells. i Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, s. 273-279, 2nd IEEE Conference on Control Technology and Applications, CCTA 2018, Copenhagen, Danmark, 21/08/2018. https://doi.org/10.1109/CCTA.2018.8511324

Implementation of Admittance Control on a Construction Robot Using Load Cells. / Bekker, Misha; Pedersen, Rasmus; De Dios Flores-Mendez, Juan; Rasmussen, Mads Høi; Bak, Thomas.

Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. s. 273-279.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - Implementation of Admittance Control on a Construction Robot Using Load Cells

AU - Bekker, Misha

AU - Pedersen, Rasmus

AU - De Dios Flores-Mendez, Juan

AU - Rasmussen, Mads Høi

AU - Bak, Thomas

PY - 2018/10/26

Y1 - 2018/10/26

N2 - Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

AB - Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.

U2 - 10.1109/CCTA.2018.8511324

DO - 10.1109/CCTA.2018.8511324

M3 - Article in proceedings

SN - 978-1-5386-7699-8

SP - 273

EP - 279

BT - Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)

PB - IEEE

ER -

Bekker M, Pedersen R, De Dios Flores-Mendez J, Rasmussen MH, Bak T. Implementation of Admittance Control on a Construction Robot Using Load Cells. I Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE. 2018. s. 273-279 https://doi.org/10.1109/CCTA.2018.8511324