Combined position & force control of a robotic manipulator

J. Sijs; F. Liefhebber; G.W.R.B.E. Römer

doi:10.1109/ICORR.2007.4428414

Combined position & force control of a robotic manipulator

J. Sijs, F. Liefhebber, G.W.R.B.E. Römer

Control Systems

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

19 Citaten (Scopus)

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The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.

Originele taal-2	Engels
Titel	Proceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands
Plaats van productie	Piscataway
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	106-111
ISBN van geprinte versie	978-1-4244-1320-1
DOI's	https://doi.org/10.1109/ICORR.2007.4428414
Status	Gepubliceerd - 2007
Evenement	conference; ICORR 07 - Duur: 1 jan. 2007 → …

Congres

Congres	conference; ICORR 07
Periode	1/01/07 → …
Ander	ICORR 07

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10.1109/ICORR.2007.4428414

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Sijs, J., Liefhebber, F., & Römer, G. W. R. B. E. (2007). Combined position & force control of a robotic manipulator. In Proceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands (blz. 106-111). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICORR.2007.4428414

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title = "Combined position & force control of a robotic manipulator",

abstract = "The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.",

author = "J. Sijs and F. Liefhebber and G.W.R.B.E. R{\"o}mer",

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Sijs, J, Liefhebber, F & Römer, GWRBE 2007, Combined position & force control of a robotic manipulator. in Proceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands. Institute of Electrical and Electronics Engineers, Piscataway, blz. 106-111, conference; ICORR 07, 1/01/07. https://doi.org/10.1109/ICORR.2007.4428414

Combined position & force control of a robotic manipulator. / Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.
Proceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands. Piscataway: Institute of Electrical and Electronics Engineers, 2007. blz. 106-111.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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AB - The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.

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BT - Proceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands

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Combined position & force control of a robotic manipulator

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