Abstract
Due to the gravity of the joystick during the remote control using the joystick, If you use it for a long time, the driver’s muscles may become tired. In order to achieve the impedance control of the joystick gravity environment, this paper proposed an impedance control method based on gravity compensation in the gravity environment. The control of the end force of the joystick is implemented in a joint space- based position impedance control algorithm. This paper proposed a gravity compensation algorithm that can calculate the compensation force required for the current position according to each joint angle, and generate corresponding force to compensate the end gravity in real time. The experimental results showed that the method can compensate the influence of gravity on the measured value of the F/T sensor at the end of the joystick in real time, so that the joystick can achieve impedance control at any end position without any external equipment in the gravity environment.
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Acknowledgment
This research was financially supported by the Ministry of trade, Industry and Energy (MOTIE), Korea Institute for Advancement of Technology (KIAT) through the Robot Business Belt Development Project (A012000009).
This research was funded and conducted under 『the Competency Development Program for Industry Specialists』 of the Korean Ministry of Trade, Industry and Energy (MOTIE), operated by Korea Institute for Advancement of Technology (KIAT). (No. P0008473, The development of high skilled and innovative manpower to lead the Innovation based on Robot).
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Ock, YJ., Gu, ZM., An, JW., Lee, JM. (2019). Haptic Joystick Impedance Control with Gravity Compensation. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_57
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DOI: https://doi.org/10.1007/978-3-030-27529-7_57
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