Contact force rendering method based on robot dynamics

Force perception is the primary means for operators to perceive the environment accurately, and a contact force rendering method based on the robot dynamics is proposed for rigid contact tasks. Firstly, the normal contact force is calculated by the rigid contact model and the robot dynamics, and then the tangential force is calculated according to the friction model. In order to improve the computational stability, the flexible joint model is designed, and the additional force and torque are used to compensate the pose error introduced by the sampling calculation. Finally, the proposed algorithm is verified in our self-developed robot simulation system, experiments show that the algorithm has high real-time performance, and the stable contact between the robot with the environment can be achieved through the master hand motion filtering and feedback force variable stiffness rendering in human-computer interaction.