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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)
PublisherIEEE
Publication date26. Oct 2018
Pages273-279
ISBN (Print)978-1-5386-7699-8
ISBN (Electronic)978-1-5386-7698-1
DOIs
Publication statusPublished - 26. Oct 2018
Event2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
Duration: 21. Aug 201824. Aug 2018

Conference

Conference2nd IEEE Conference on Control Technology and Applications, CCTA 2018
CountryDenmark
CityCopenhagen
Period21/08/201824/08/2018
SponsorIEEE Control Systems Society

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