Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER

Abstract

This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted.