This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Robotic Interface for Dynamic System Analysis and Interaction
Technical Paper
1999-01-1871
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
ABSTRACT
It is common to develop extensive dynamic models for new equipment early in the design stage. While dynamic characteristics are often determined from impulse, step, and sinusoidal inputs to the models, the actual response of the equipment will be a response to inputs made by the human using control levers, knobs and switches. The work described here is the use of a robot manipulator that allows the human to provide natural motion and force inputs to the simulated dynamic system and to use the response to evaluate the performance of the system and controls. A heavy lift assist device is used as the test system here, where an operator grasps handles attached to the lifting jaws, and uses a large partially powered mechanism to provide load support. The kinematic and dynamic model of this system are derived and programmed to provide the expected system output in response to human motion and force inputs. An industrial PUMA manipulator is outfitted with a lifting handle and programmed to follow the same motion as the simulated system would, given particular inputs. A force transducer measures the inputs from the human, and the operator can assess system performance using both the response data and an evaluation.
Authors
Citation
Luecke, G., Tan, K., and Simpson, G., "Robotic Interface for Dynamic System Analysis and Interaction," SAE Technical Paper 1999-01-1871, 1999, https://doi.org/10.4271/1999-01-1871.Also In
References
- Kazerooni, H. Guo, J. Human Extenders Journal of Dynamic Systems, Measurement, and Control 115 2(B) 281 290 June 1993
- Kazerooni, H. Mahoney, S. L. Dynamics and Control of Robotic Systems Worn by Humans Journal of Dynamic Systems, Measurement, and Control 113 2(B) 379 387 Sept 1991
- Armstrong, B. McPherson, J. Li, Y. A Lyapunuov Stability Proof for Nonlinear-Stiffness PD Control Proceedings of the 1996 IEEE International Conference on Robotics and Automation 1 945 950 Minneapolis, MN April 1996
- Colgate, J. E. Wannasuphoprasit, W. Peshkin, M. A. Cobots: Robots for Collaboration with Human Operators Proceedings of the International Mechanical Engineering Congress and Exhibition 58 433 439 Atlanta, GA 1996
- Clover, C. L. Luecke, G. R. Troy, J. J. McNeely, W. A. Dynamic Simulation of Virtual Mechanisms with Haptic Feedback Using Industrial Robotics Equipment Proceedings of the International Conference on Robotics and Automation 724 730 Albuquerque, NM April 1997
- Edwards, J. C. Luecke, G. R. Physically Based Models for use in a Force-Feedback Virtual Environment Proceedings of the 1996 Japan/USA Symposium on Flexible Automation 221 228 Boston, MA June 8-10 1996