Name
Abstract | ||
|---|---|---|
The force-free control means that the robot arm does not seem to be affected by gravity, frictions, and inertial force during the interaction with human. An advanced force-free control method can greatly improve work efficiency. In this paper, a novel force-free control method of the flexible-joint robot is proposed. First, the mathematical models of flexible joint and flexible-joint robot are established, and the force-free controller which can realize the gravity-free situation and reduce the frictions and inertial torques is designed based on the models. Then, the dynamic parameters of the robot arm are obtained by means of a self-measuring way. Finally, a flexible-joint robot experimental system is assembled, and the verification of force-free control method is carried out. Moreover, the method converts external force into joint velocities in the joint servo controllers to improve the stability of the movement. © 2018 Elsevier Ltd |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1016/j.compeleceng.2018.10.014 | Computers and Electrical Engineering |
Keywords | Field | DocType |
Flexible-joint robot,Force-free control,Human-robot interaction,Self-measuring,Stability | Inertial frame of reference,Control theory,Robotic arm,Torque,Servo,Computer science,Control theory,Real-time computing,Fictitious force,Robot,Human–robot interaction | Journal |
Volume | Citations | PageRank |
73 | 1 | 0.37 |
References | Authors | |
12 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dong Kangkang | 1 | 1 | 0.37 |
| Liu HD | 2 | 14 | 11.90 |
| Zhu Xiaojun | 3 | 4 | 2.81 |
| Wang Xueqian | 4 | 35 | 19.00 |
| Xu Feng | 5 | 1 | 0.37 |
| Liang Bin | 6 | 239 | 54.58 |