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- W2188998944 abstract "iswanted. Thisassistant isbasedon external forces onthegripper oftherobot, measured using a force-torque sensor. A newcontrol strategy isdesigned for measured forces anduserinput. Thebasic principle ofthis strategy isderived fromthewaythathumanssteer their hand. Sensed forces arefollowed until theyarenotpresent anymore, except whentheuserwantstodoa manipulation inthat direction. Therefore acombined position/force controller was designed. All6DOF oftherobotcanbesteered byboththe userandtheforcecontroller atthesametime. Beside the design ofthecontrol strategy, itisalsoimplemented onthe ARM andtested infourtest-cases. I.INTRODUCTION P EOPLE witha physical handicap becomemore independent whenusing arobot armsuchastheARM (Assistive Robotic Manipulator), previously knownas Manus[6]. Itisanassistive robotic manipulator with6 Degrees ofFreedom (DOF). Thegripper oftherobot is operated using avariety ofinput-devices including ajoystick andakeypad. Therobot allows theusertocarry outall-dayliving (ADL)tasks independently. However, anumberof scenario's aretoodifficult to complete thetaskor manipulation. Insuchscenario's therobot mustfollow a constraint pathinmultiple directions atthesametimeto complete thetask. Constraint scenario's like opening abottle andopening adoordemandthat theARM issteered intwo ormoredirections. Thispaper discusses acontrol approach tocopewiththese scenario's using anautomatic force controller. Tothat endacommercial force sensor [1], was mounted between thewrist andthegripper oftheARM.Its position isshowninFigure 1. Inprevious work, ahybrid position/force controller was designed [2,5]. Thiscontroller allowed theusertochoose whichDOF wascontrolled bytheposition controller and which(other DOF)wascontrolled bytheforce controller. Thiscontrol approach proved tobetoodifficult fortheuser," @default.
- W2188998944 created "2016-06-24" @default.
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- W2188998944 date "2007-01-01" @default.
- W2188998944 modified "2023-09-24" @default.
- W2188998944 title "CombinedPosition & ForceControl fora robotic manipulator" @default.
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- W2188998944 hasPublicationYear "2007" @default.
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