基于壳形力传感器的移动机器人阻抗控制

2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI:10.1109/ICMECH.2009.4957162

T. Tsuji

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引用次数: 1

摘要

本文研究了基于壳形力传感器的阻抗控制问题。由于采用了全身力传感机构，可以在机器人全身任意点上实现阻抗控制。此外，还可以实现不同位置的可变阻抗。实验结果验证了研究的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Impedance control of mobile robot with shell-shaped force sensor

This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.

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来源期刊

2009 IEEE International Conference on Mechatronics

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