CONTROL MODELLING AND DESIGN FOR TIME-VARYING DYNAMICAL SYSTEMS DUE TO EXTERNAL FORCE IN HUMAN-ROBOT INTERACTION

被引：0

作者：

Wei, Bin ^{[1
]}

机构：

[1] Texas A&M Univ, Dept Mech & Ind Engn, Kingsville, TX 78363 USA

来源：

PROCEEDINGS OF ASME 2023 18TH INTERNATIONAL MANUFACTURING SCIENCE AND ENGINEERING CONFERENCE, MSEC2023, VOL 2 | 2023年

关键词：

human-robot interaction; unknown dynamics; control design; advanced manufacturing; Lyapunov stability; PID control;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

When there is a physical interaction between human operators and robotic systems in the manufacturing, there will be addition of external force component in the dynamical equation of the robotic system coming from the human operators. Different operators might place different forces onto the robotic system and therefore, a control system is required to control such time-varying dynamical systems due to the external force coming from the human operators in the manufacturing. A design process for the control system gears to such robotic systems in the human-robot interaction of manufacturing is presented and analyzed. The study proceeds from the simple one degree of freedom robotic arm to multi degrees of freedom robotic arms in the manufacturing. The designed control system can handle a range of robotic dynamical systems with varying external forces.

引用

页数：10

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