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Vol. 162, Issue 1, January 2014, pp. 292-298




A Compliant Control Method Based on Force Sensors on Robot End-effectors for Live-working

1, 2 Huanbing GAO, 2 Shouyin LU, 2 Tao WANG

1 School of Control Science and Engineering, Shandong University, Jinan, 250014, China
2 School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, 250101, China
1 Tel.:+8613853144613, fax: +8653186361957

1 E-mail: gaohuanbing@163.com


Received: 9 October 2013 /Accepted: 9 January 2014 /Published: 31 January 2014

Digital Sensors and Sensor Sysstems


Abstract: This paper proposes a force control method for the live-working robot. Some live- working task requires larger stiffness such as pushing and butting when replacing cross arm or insulator. Two arms are attached on the live-working robot to meet this requirement and other need for cooperation by two arms. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This problem is solved by the proposed control scheme, the main idea of which is two arms could be considered as one arm. The force control method for the exact force control is based on the compliant relationship of the dual arms and the environment. The developed control scheme is experimentally tested on the live-working robot, and the experimental investigation concerns it has short computation time and can successfully tracking force.


Keywords: Compliant control, Live-working, Force sensor.


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