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    Real-time compliance control of an assistive joint using QNX operating system

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    Authors
    Gu, Shuang
    Wu, Cheng-Dong
    Yue, Yong
    Maple, Carsten
    Li, Da-You
    Liu, Bei-Sheng
    Issue Date
    2013-12
    Subjects
    assistive robot
    QNX system
    compliance control
    impedance control
    parameters identification
    
    Metadata
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    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
    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).
    ae974a485f413a2113503eed53cd6c53
    10.1007/s11633-013-0748-3
    Scopus Count
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    Centre for Research in Distributed Technologies (CREDIT)

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