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Contact force rendering method based on robot dynamics
Wei Q(魏青)1,2; Liu NL(刘乃龙)1,2; Liu ZM(刘钊铭)1,2; Cui L(崔龙)1
Department机器人学研究室
Conference Name30th Chinese Control and Decision Conference, CCDC 2018
Conference DateJune 9, 2018 - June 11, 2018
Conference PlaceShenyang, China
Source PublicationProceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages5623-5628
Indexed ByEI
EI Accession number20183205649797
Contribution Rank1
ISBN978-1-5386-1243-9
KeywordContact Force Rendering Virtual Robot Rigid Contact
AbstractForce perception is the primary means for operators to perceive the environment accurately, and a contact force rendering method based on the robot dynamics is proposed for rigid contact tasks. Firstly, the normal contact force is calculated by the rigid contact model and the robot dynamics, and then the tangential force is calculated according to the friction model. In order to improve the computational stability, the flexible joint model is designed, and the additional force and torque are used to compensate the pose error introduced by the sampling calculation. Finally, the proposed algorithm is verified in our self-developed robot simulation system, experiments show that the algorithm has high real-time performance, and the stable contact between the robot with the environment can be achieved through the master hand motion filtering and feedback force variable stiffness rendering in human-computer interaction.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22391
Collection机器人学研究室
Corresponding AuthorWei Q(魏青)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Wei Q,Liu NL,Liu ZM,et al. Contact force rendering method based on robot dynamics[C]. New York:IEEE,2018:5623-5628.
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