Impedance control of a robotic gripper for cooperation with humans

被引：17

作者：

Dutta, A

Obinata, G

机构：

[1] Akita Univ, Dept Mech Engn, Akita 0108502, Japan

[2] Nagoya Univ, Dept Mech Engn, Chikusa Ku, Nagoya, Aichi 4648603, Japan

来源：

CONTROL ENGINEERING PRACTICE | 2002年 / 10卷 / 04期

关键词：

dextrous gripper; impedance control; human characteristics; shear force;

D O I：

10.1016/S0967-0661(01)00152-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The control system of a robotic dextrous gripper for cooperation with humans should be based on the human control system so that the robot is "human friendly". In this paper three different impedance control systems for a robotic gripper are evaluated, and the control system which can most effectively represent human characteristics identified. First a task performed by two humans was analyzed and various impedance parameters based on it identified. Three different types of impedance model based controllers were designed for the gripper. A robot-human cooperation task was then simulated to compare the effectiveness of the three control methods. It is concluded that the control method in which the impedance parameters are varied actively with the velocity of motion gives the best performance for a robot-human cooperation task. Finally a robot-human cooperation experiment was performed to demonstrate the practical application of the proposed control method. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：379 / 389

页数：11

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