팔씨름로봇의 힘제어시스템 모델링과 시뮬레이션

An arm-wrestling robot is recently developed in our laboratory that is comprised of an arm-force generation mechanism and a control system that detects the maximum arm-force of a user in the early stage of the match, generates a different game scenario each time, and executes force feedback control to implement the scenario. This paper presents a mathematical model of the force control system of the arm-wrestling robot via experimental frequency responses using a control system analyzer and the validity of thederived model is demonstrated through comparing simulation results with experimental results. Moreover some improvements of the arm-wrestling robot are accomplished via reflecting operation experiences.