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수직 다관절 로봇 매니퓰레이터의 목표하는 힘을 위한 새로운 어드미턴스 제어 알고리즘
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- Authors
- 신승천, 강민석, 백재민
- Issue Date
- 2022-11
- Citation
- 대한기계학회논문집 A, v.46, no.11, pp.987-994
- ISSN
- 1226-4873
- Publisher
- 대한기계학회
- Language
- Korean
- Type
- Journal Article
- Project Code
- 22ZD1100, Regional Industry ICT Convergence Technology Advancement and Support Project in Daegu-GyeongBuk, Moon Ki Young
- Abstract
- This paper presents a new admittance control algorithm and then applies it to robot manipulator. The proposed control algorithm is developed to provide the target force automatically according to stiffness of objects, which can compensate the energy for the lost force generated by general admittance control algorithm. It is also designed to predict the stiffness of all objects without requiring a mathematical model that incorporate a priori knowledge of physical properties in all objects while in operation. The effectiveness of the proposed admittance control algorithm is proved in experiments with real robot manipulator while employing four objects with different properties, which is compared to that of the general admittance control algorithm.
- KSP Keywords
- Admittance control, Mathematical model, Physical Properties, Priori knowledge, Robot manipulator, control algorithm