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-...

Full description

Bibliographic Details
Other Authors: Bitz, Tanner Jacob (Author)
Format: Dissertation
Language:English
Published: 2019
Subjects:
Online Access:http://hdl.handle.net/2286/R.I.54870