Contact Detection and Reaction of a Wheelchair Mounted Robotic Arm Equiped with Mechanical Gravity Canceller

被引：0

作者：

Wang, Wei ^{[1
]}

Suga, Yuki ^{[1
]}

Sugano, Shigeki ^{[1
]}

机构：

[1] Waseda Univ, Sch Creat Sci & Technol, Dept Modern Mech Engn, Tokyo 1698555, Japan

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

IMPEDANCE CONTROL; DESIGN;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method.

引用

页数：6

共 41 条

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