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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
作者部门机器人学研究室
会议名称30th Chinese Control and Decision Conference, CCDC 2018
会议日期June 9, 2018 - June 11, 2018
会议地点Shenyang, China
会议录名称Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
出版者IEEE
出版地New York
2018
页码5623-5628
收录类别EI
EI收录号20183205649797
产权排序1
ISBN号978-1-5386-1243-9
关键词Contact Force Rendering Virtual Robot Rigid Contact
摘要Force 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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22391
专题机器人学研究室
通讯作者Wei Q(魏青)
作者单位1.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
推荐引用方式
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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