Accurate force control and co-manipulation control using hybrid external command - Archive ouverte HAL
Communication Dans Un Congrès Année : 2017

Accurate force control and co-manipulation control using hybrid external command

Résumé

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 paperfocuses 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.

Dates et versions

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

Identifiants

Citer

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. ⟨10.1016/j.ifacol.2017.08.931⟩. ⟨hal-01491560⟩
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