|Apr 25 2014 11:30AM
Laboratoire de robotique
Dép. de génie mécanique, Université Laval
Robotic Force Amplification with Free Space Motion Capability
A control algorithm based on admittance regulation is proposed for human-robot cooperative force amplification. The controller is particularly suitable for physical interaction in both free space and constrained motions thanks to an active transition between the two modes. It is also able to cancel possible high frequency oscillations due to the contact with the environment. The mathematical analysis of the controller and some preliminary experimental results on a 1-dof test-bench are going to be presented.