@inproceedings{59a8213e59714f27948da40fdd4e0065,
title = "Development of adaptive force-following impedance control for interactive robot",
abstract = "This paper presented a safety approach for the interactive manipulator. At first, the basic compliance control of the manipulator is realized by using the Cartesian impedance control, which inter-related the external force and the end position. In this way, the manipulator could work as an external force sensor. A novel force-limited trajectory was then generated in a high dynamics interactive manner, keeping the interaction force within acceptable tolerance. The proposed approach also proved that the manipulator was able to contact the environment compliantly, and reduce the instantaneous impact when collision occurs. Furthermore, adaptive dynamics joint controller was extended to all the joints for complementing the biggish friction. Experiments were performed on a 5-DOF flexible joint manipulator. The experiment results of taping the obstacle, illustrate that the interactive robot could keep the desired path precisely in free space, and follow the demand force in good condition.",
keywords = "Cartesian impedance control, Collision detection, Interactive robot",
author = "Huang Jianbin and Li Zhi and Liu Hong",
note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG, part of Springer Nature.; 9th International Conference on Swarm Intelligence, ICSI 2018 ; Conference date: 17-06-2018 Through 22-06-2018",
year = "2018",
doi = "10.1007/978-3-319-93818-9\_2",
language = "英语",
isbn = "9783319938172",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "15--24",
editor = "Ying Tan and Qirong Tang and Yuhui Shi",
booktitle = "Advances in Swarm Intelligence - 9th International Conference, ICSI 2018, Proceedings",
address = "德国",
}