Design of Human-Robot HandshakingStrategy with Variable Impedance Control
碩士 === 國立臺灣科技大學 === 高分子系 === 97 === In this thesis, we developed a handshaking robot system to realize human-robot handshaking motion. Position-based impedance control could provide the response of the system to external forces by utilizing a desired impedance relationship between the external force...
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| Format: | Others |
| Language: | en_US |
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2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/39438421209843630608 |
| Summary: | 碩士 === 國立臺灣科技大學 === 高分子系 === 97 === In this thesis, we developed a handshaking robot system to realize human-robot handshaking motion. Position-based impedance control could provide the response of the system to external forces by utilizing a desired impedance relationship between the external force and displacement. Position-based impedance control combined with Adaptive method could adapt the unpredicted direction and magnitude of exerted force by different operators. This kind of method can be called variable impedance control as well. Variable impedance control could regulate impedance parameters for better performance. Through elementary experiments we proposed some strategies which helped the operator to change impedance parameters. The purpose of the strategies is to make the experimental handshaking feeling more realistic as handshaking feeling between humans. Finally the proposed system would be proved feasible by experimental results and analysis.
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