Dynamical System Based Variable Admittance Control For Physical Human-Robot Interaction

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION(2020)

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摘要
PurposeThe purpose of this paper is to enable robots to intelligently adapt their damping characteristics and motions in a reactive fashion toward human inputs and task requirements during physical human-robot interaction.Design/methodology/approachThis paper exploits a combination of the dynamical system and the admittance model to create robot behaviors. The reference trajectories are generated by dynamical systems while the admittance control enables robots to compliantly follow the reference trajectories. To determine how control is divided between the two models, a collaborative arbitration algorithm is presented to change their contributions to the robot motion based on the contact forces. In addition, the authors investigate to model the robot's impedance characteristics as a function of the task requirements and build a novel artificial damping field (ADF) to represent the virtual damping at arbitrary robot states.FindingsThe authors evaluate their methods through experiments on an UR10 robot. The result shows promising performances for the robot to achieve complex tasks in collaboration with human partners.Originality/valueThe proposed method extends the dynamical system approach with an admittance control law to allow a robot motion being adjusted in real time. Besides, the authors propose a novel ADF method to model the robot's impedance characteristics as a function of the task requirements.
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关键词
Physical human-robot interaction, Compliant control, Dynamical systems, Artificial damping field, Robotics, Haptic devices, Compliant mechanisms, Man machine interface (MMI), Cooperative robots
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