2.50
Hdl Handle:
http://hdl.handle.net/10547/336178
Title:
Real-time compliance control of an assistive joint using QNX operating system
Authors:
Gu, Shuang; Wu, Cheng-Dong; Yue, Yong; Maple, Carsten; Li, Da-You; Liu, Bei-Sheng
Abstract:
An assistive robot is a novel service robot, playing an important role in the society. For instance, it can amplify human power not only for the elderly and disabled to recover/rehabilitate their lost/impaired musculoskeletal functions but also for healthy people to perform tasks requiring large forces. Consequently, it is required to consider both accurate position control and human safety, which is the compliance. This paper deals with the robot control compliance problem based on the QNX real-time operating system. Firstly, the mechanical structure of a compliant joint on the assistive robot is designed using Solidworks. Then the parameters of the assistive robot system are identified. The software of robot control includes data acquisition and processing, and control to meet the compliance requirement of the joint control. Finally, a Hogan impedance control experiment is carried out. The experimental results prove the effectiveness of the method proposed.
Citation:
Gu, S., Wu, C., Yue, Y., Maple, C., Li, D., Liu, B., (2013) 'Real-time compliance control of an assistive joint using QNX operating system', International Journal of Automation and Computing, Vol 10 (6) pp506-514.
Publisher:
Springer
Journal:
International Journal of Automation and Computing
Issue Date:
Dec-2013
URI:
http://hdl.handle.net/10547/336178
DOI:
10.1007/s11633-013-0748-3
Additional Links:
http://link.springer.com/10.1007/s11633-013-0748-3
Type:
Article
Language:
en
ISSN:
1476-8186; 1751-8520
Sponsors:
This work was supported by National High Technology Research and Development Program of China (863 Program) (No. 2011AA040202) and National Nature Science Fundation of China (No. 51005008).
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorGu, Shuangen
dc.contributor.authorWu, Cheng-Dongen
dc.contributor.authorYue, Yongen
dc.contributor.authorMaple, Carstenen
dc.contributor.authorLi, Da-Youen
dc.contributor.authorLiu, Bei-Shengen
dc.date.accessioned2014-11-26T13:41:58Z-
dc.date.available2014-11-26T13:41:58Z-
dc.date.issued2013-12-
dc.identifier.citationGu, S., Wu, C., Yue, Y., Maple, C., Li, D., Liu, B., (2013) 'Real-time compliance control of an assistive joint using QNX operating system', International Journal of Automation and Computing, Vol 10 (6) pp506-514.en
dc.identifier.issn1476-8186-
dc.identifier.issn1751-8520-
dc.identifier.doi10.1007/s11633-013-0748-3-
dc.identifier.urihttp://hdl.handle.net/10547/336178-
dc.description.abstractAn assistive robot is a novel service robot, playing an important role in the society. For instance, it can amplify human power not only for the elderly and disabled to recover/rehabilitate their lost/impaired musculoskeletal functions but also for healthy people to perform tasks requiring large forces. Consequently, it is required to consider both accurate position control and human safety, which is the compliance. This paper deals with the robot control compliance problem based on the QNX real-time operating system. Firstly, the mechanical structure of a compliant joint on the assistive robot is designed using Solidworks. Then the parameters of the assistive robot system are identified. The software of robot control includes data acquisition and processing, and control to meet the compliance requirement of the joint control. Finally, a Hogan impedance control experiment is carried out. The experimental results prove the effectiveness of the method proposed.en
dc.description.sponsorshipThis work was supported by National High Technology Research and Development Program of China (863 Program) (No. 2011AA040202) and National Nature Science Fundation of China (No. 51005008).en
dc.language.isoenen
dc.publisherSpringeren
dc.relation.urlhttp://link.springer.com/10.1007/s11633-013-0748-3en
dc.rightsArchived with thanks to International Journal of Automation and Computingen
dc.subjectassistive roboten
dc.subjectQNX systemen
dc.subjectcompliance controlen
dc.subjectimpedance controlen
dc.subjectparameters identificationen
dc.titleReal-time compliance control of an assistive joint using QNX operating systemen
dc.typeArticleen
dc.identifier.journalInternational Journal of Automation and Computingen
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