Research on the Impedance Control of Human-robot Cooperative Manipulator Based on Human-friendly Technology

DOI

10.2991/icmmita-15.2015.204How to use a DOI?

Keywords

Human-Robot Cooperation; Impedance Control; Simulink Simulation; Human-Friendly

Abstract

The paper had studied the human-robot cooperation with moving an object based on a three DOF (Degree of Freedom) manipulator. Firstly?the impedance control based on impedance model for the manipulator had been designed, and confirmed through the Simulink simulation. And then, the impedance parameters of the manipulator were obtained by using the least square method. For the human-friendly, the paper had proposed a new method. That is to compare the impedance characteristics of the manipulator with the impedance model of the human-human cooperation. The paper analyzed the human-friendly in quantitative by calculating the percentage error of the impedance parameters. Finally, the paper verified the human-friendly of the manipulator using the method. And it found that the designed impedance control can make the manipulator be human-friendly

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lihua Wu
AU  - Wang Liang
PY  - 2015/11
DA  - 2015/11
TI  - Research on the Impedance Control of Human-robot Cooperative Manipulator Based on Human-friendly Technology
BT  - Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications
PB  - Atlantis Press
SP  - 1110
EP  - 1115
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmita-15.2015.204
DO  - 10.2991/icmmita-15.2015.204
ID  - Wu2015/11
ER  -