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

doi:10.1109/CCTA.2018.8511324

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

Department of Technology and Innovation

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)
Publisher	IEEE
Publication date	26. Oct 2018
Pages	273-279
ISBN (Print)	978-1-5386-7699-8
ISBN (Electronic)	978-1-5386-7698-1
DOIs	https://doi.org/10.1109/CCTA.2018.8511324
Publication status	Published - 26. Oct 2018
Event	2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark Duration: 21. Aug 2018 → 24. Aug 2018

Conference

Conference	2nd IEEE Conference on Control Technology and Applications, CCTA 2018
Country/Territory	Denmark
City	Copenhagen
Period	21/08/2018 → 24/08/2018
Sponsor	IEEE Control Systems Society

Documents & Links

10.1109/CCTA.2018.8511324

Cite this

@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 = oct,

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",

note = "2nd IEEE Conference on Control Technology and Applications, CCTA 2018 ; Conference date: 21-08-2018 Through 24-08-2018",

}

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. in Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, pp. 273-279, 2nd IEEE Conference on Control Technology and Applications, CCTA 2018, Copenhagen, Denmark, 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 et al.

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

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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

AN - SCOPUS:85056865580

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

T2 - 2nd IEEE Conference on Control Technology and Applications, CCTA 2018

Y2 - 21 August 2018 through 24 August 2018

ER -

Implementation of Admittance Control on a Construction Robot Using Load Cells

Abstract

Conference

Documents & Links

Fingerprint

Cite this