Study on the Gain Effects of the human-robot cooperative robot manipulator

摘要：

Author has developed a human-robot cooperative robot manipulator for a direct teaching method. With this robot system, the operator can directly teach reference trajectories to the manipulator by pushing or pulling the teaching handle equipped on the end of the manipulator. But the controller has many control gains because it has double stages of impedance considering the contact condition between the manipulator and the environment. In this paper, the research results on the gain effects of the robot manipulator system with double stages of impedance are introduced.

关键词： double impedance gain effects human-robot cooperation

作者: Chanhun Park

作者单位: Department of Robotics & Intelligent Machinery Korea Institute of Machinery and Materials 104 Sinseongno, Yuseong-Gu, Daejeon, 305-343, Republic of KOREA

会议类型: 国际会议

会议名称: 2010 International Conference on Circuit and Signal Processing(2010年电路与信号处理国际会议 ICCSP 2010)

会议地点: 上海

会议语种:英文

页码: 672-675

在线出版日期: 2010-12-25（万方平台首次上网日期，不代表论文的发表时间）