Accurate force control and co-manipulation control using hybrid external command

Abstract : The control of the interaction between a robot and the environment is very important in the medical area. The control of this interaction can be realized with a force control, which does not need human intervention, or co-manipulation, where the human operator moves the robot himself. This paper focuses on a simple hybrid external command allowing to do these two applications by modelling the robot as a rigid structure interacting with the environment thanks to a spring representing the force sensor. After calculation of the correctors with a pole placement, some numerical tests were realized. Some experiments prove the accuracy of the control, for a one degree of freedom robot.
Type de document :
Communication dans un congrès
International Federation of Automatic Control, Jul 2017, Toulouse, France. <https://www.ifac2017.org/>
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https://hal.archives-ouvertes.fr/hal-01491560
Contributeur : Sylvain Devie <>
Soumis le : vendredi 17 mars 2017 - 09:59:02
Dernière modification le : mardi 22 août 2017 - 14:50:17

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  • HAL Id : hal-01491560, version 1

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Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Anthony Jubien. Accurate force control and co-manipulation control using hybrid external command. International Federation of Automatic Control, Jul 2017, Toulouse, France. <https://www.ifac2017.org/>. <hal-01491560>

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