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题名:
Contact force rendering method based on robot dynamics
作者: 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
通讯作者: Wei Q(魏青)
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: Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
会议录出版者: IEEE
会议录出版地: New York
出版日期: 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
内容类型: 会议论文
URI标识: http://210.72.131.170/handle/173321/22453
Appears in Collections:机器人学研究室_会议论文

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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

Recommended Citation:
Wei Q,Liu NL,Liu ZM,et al. Contact force rendering method based on robot dynamics[C]. 30th Chinese Control and Decision Conference, CCDC 2018. Shenyang, China. June 9, 2018 - June 11, 2018.Contact force rendering method based on robot dynamics.
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