Variable Damping Control of a Robotic Arm to Improve Trade-off Between Performance and Stability
abstract: Admittance control with fixed damping has been a successful control strategy in previous human-robotic interaction research. This research implements a variable damping admittance controller in a 7-DOF robotic arm coupled with a human subject’s arm at the end effector to study the trade-...
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| Format: | Dissertation |
| Language: | English |
| Published: |
2019
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| Online Access: | http://hdl.handle.net/2286/R.I.54870 |