Paper Info
Title
Smooth Reaching and Human-Like Compliance in Physical Interactions for Redundant Arms
Abstract
This work collectively addresses human-like smoothness and compliance to external contact force in reaching tasks of redundant robotic arms, enhancing human safety potential and facilitating physical human-robot interaction. A model based prescribed performance control algorithm is proposed, producing smooth, repeatable reaching movements for the arm and a compliant behavior to an external contact by shaping the reaching target superimposing the position output from a human-like impedance model. Simulation results for a 5dof human-arm like robot demonstrate the performance of the proposed controller.
Year
DOI
Venue
2013
10.1007/978-3-319-02675-6_12
ICSR
Keywords
Field
DocType
compliance,redundant arms,smooth reaching motion
Performance control,Control theory,Robotic arm,Computer science,Simulation,Contact force,Electrical impedance,Smoothness,Robot,Human safety
Conference
Volume
ISSN
Citations 
8239
0302-9743
2
PageRank 
References 
Authors
0.39
13
2
Name
Order
Citations
PageRank
Abdelrahem Atawnih1191.94
Zoe Doulgeri233247.11