Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER

Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER

This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced b...

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Bibliographische Detailangaben
Hauptverfasser: Hyo Won Jeon, Jeong Seob Kim, Seul Jung
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Automatic control
Control systems
Design engineering
Field programmable gate arrays
Force control
Human robot interaction
Impedance
impedance force controller
interaction
Manipulators
Mechatronics
Roboker
Service robots
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Beschreibung
Zusammenfassung:This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted.
DOI:10.1109/ICCAS.2008.4694416