Misha Bekker, Rasmus Pedersen1, Juan De Dios Flores Mendez1, Mads Høi Rasmussen, Thomas Bak1
14:30 - 14:50 | Wed 22 Aug | Fredensborg | WeB3.4
Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) test-bed to validate the work done and the results show that the performance is satisfactory.