Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact

Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics flexibility of automation. Established methods for design compliance, impedance control, collision response can achieve free-space stability acceptable peak contact force on lightweight, lower payload robots. Scaling collaboration higher payloads allow new applications, but introduces challenges due more significant dynamics use higher-payload industrial To high-payload manual guidance contact, this paper proposes validates mechatronic methods: standard admittance is extended damping feedback, compliant structures are integrated environment, a method which allows continuous proposed. These compared respect stability, force. The resulting then applied realize two contact-rich tasks 16 kg (peg in hole slot assembly) co-manipulation 50 payload.