Abstract
Chewing robots are designed to mimic human mastication process . Dynamic force and position control is needed for the robot to produce the chewing force and the trajectory typical for the foods being chewed. The controller design is challenging due to the complexity of the dynamic model of the robot which is normally in a parallel structure. In this paper, a simplified joint space based impedance control scheme is proposed for a 6RSS chewing robot. The special features of the kinematic, force and dynamic models of the robot are explored for the controller design. The effectiveness of the proposed approach is proved.
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Huang, L., Xu, W.L., Torrance, J., Bronlund, J.E. (2009). Modeling and Impedance Control of a Chewing Robot with a 6RSS Parallel Mechanism. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_73
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DOI: https://doi.org/10.1007/978-3-642-10817-4_73
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