ETRI-Knowledge Sharing Plaform

ENGLISH

성과물

논문 검색
구분 SCI
연도 ~ 키워드

상세정보

학술지 수직 다관절 로봇 매니퓰레이터의 목표하는 힘을 위한 새로운 어드미턴스 제어 알고리즘
Cited 1 time in scopus Download 0 time Share share facebook twitter linkedin kakaostory
저자
신승천, 강민석, 백재민
발행일
202211
출처
대한기계학회논문집 A, v.46 no.11, pp.987-994
ISSN
1226-4873
출판사
대한기계학회
DOI
https://dx.doi.org/10.3795/KSME-A.2022.46.11.987
협약과제
22ZD1100, 대경권 지역산업 기반 ICT 융합기술 고도화 지원사업, 문기영
초록
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 제안 키워드
Admittance control, Mathematical model, Physical Properties, Priori knowledge, Robot manipulator, control algorithm