Degree Type

Thesis

Date of Award

2019

Degree Name

Master of Science

Department

Electrical and Computer Engineering

Major

Electrical Engineering

First Advisor

Greg . Luecke

Abstract

This paper implemented the impedance fields for performance enhancement on Virtuose 6D. The conversion from cartesian space to joint space is calculated and implemented to control the robot. The characteristics and the properties of the impedance field equation are analyzed. Simulations of the attractive field and repulsive field are made, that show the regions of influence of the static coupled system. Experimental results from the tests on the Haption Virtuose 6D robot are shown which validate the impedance control algorithm for both repulsive and attractive field.

Two approaches to the attractive, guiding fields are developed, and the human-robot system are compared as the robot end-effector moves within the work space. The experiment results match the simulation results.

Copyright Owner

Fan Zhang

Language

en

File Format

application/pdf

File Size

43 pages

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