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

  • Shuang Gu
    ,
  • Cheng Dong Wu
    ,
  • Yong Yue
    ,
  • Carsten Maple
    ,
  • Da You Li
    ,
  • Bei Sheng Liu
  • University of Bedfordshire
    ,
  • Northeastern University China
    ,
  • Xi'an Jiaotong-Liverpool University
Research Output: Contribution to journal Article Peer-review

Sustainable Development Goals

  • SDG 3 - Good Health and Well-being
    SDG 3 Good Health and Well

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.

Publication Information

Output type

Research Output: Contribution to journal Article Peer-review

Original language

English

Pages from-to (Number of pages)

Pages 506-514 (9 pages)

Journal (Volume, Issue Number)

International Journal of Automation and Computing (Volume 10, Issue 6)

Publication milestones

  • Published - 01/12/2013

Publication status

Published - 01/12/2013

ISSN

1476-8186

External Publication IDs

  • handle.net: 10547/336178
  • Scopus: 84890544202

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