Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots,\nthere remain some significant differences in humanââ?¬â??human interactions and humanââ?¬â??robot interaction. It is our goal\nto make robots look even more human-like. We design a controller which can sense the force acting on any point\nof a robot and ensure the robot can move according to the force. First, a springââ?¬â??massââ?¬â??dashpot system was used to\ndescribe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the\nstate space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain\nthe system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper.\nUltimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our\nteam, and the result shows that the new controller performs better during humanââ?¬â??robot interaction.
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