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Conference Papers Year : 2017

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.
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Dates and versions

hal-01491560 , version 1 (17-03-2017)

Identifiers

  • HAL Id : hal-01491560 , version 1

Cite

Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Anthony Jubien, et al.. Accurate force control and co-manipulation control using hybrid external command. International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨hal-01491560⟩
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