Date of Award
Master of Science
Electrical and Computer Engineering
Greg . Luecke
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.
Zhang, Fan, "Haptic force generation for 6 DOF dynamic position constraints" (2019). Graduate Theses and Dissertations. 17817.