Soft Touch Control Strategy of Remote Teaching Based on Force Sensing

To avoid producing strong collision between the slave robot and workpiece, the soft-force touch control strategy is brought forward by analyzing the dynamics model of the touch force during remote teaching process (RTP). It includes the subsection control strategy of the touch force, and the task self-adapting human-simulation intelligent control (HSIC) touch force. By comparing with the performance of PID controller, the experiment results show that the soft-force touch control strategy can obviously reduce the oscillating scope of touch force, shorten the stabilizing time of touch force, and improve the operated capability of touch force between the remote teaching slave robot and the workpiece

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