Description

Admittance control with fixed damping has been a successful control strategy in previous human-robotic interaction research. This research implements a variable damping admittance controller in a 7-DOF robotic

Admittance control with fixed damping has been a successful control strategy in previous human-robotic interaction research. This research implements a variable damping admittance controller in a 7-DOF robotic arm coupled with a human subject’s arm at the end effector to study the trade-off of agility and stability and aims to produce a control scheme which displays both fast rise time and stability. The variable damping controller uses a measure of intent of movement to vary damping to aid the user’s movement to a target.

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Date Created
  • 2019
Resource Type
  • Text
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    • Masters Thesis Mechanical Engineering 2019

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