Safe Human Robot Interaction using Model Matching Control

被引：0

作者：

Cheng, Po-Jen ^{[1
]}

Ting, Hsiang-Yuan ^{[1
]}

Huang, Han-Pang ^{[1
]}

机构：

[1] Department of Mechanical Engineering, National Taiwan University, Taipei,10617, Taiwan

来源：

Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao | 2016年 / 37卷 / 06期

关键词：

Industrial robots - Graph theory - Accident prevention - Man machine systems - Production efficiency - Stiffness;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Most of industrial robot arms in factory will reduce their speeds for guaranteeing human safety when human goes into the robots' working areas. But decreasing the robot speed will reduce production efficiency. To deal with this problem, this paper proposes an approach to satisfy safe human robot interaction while keeping the robot operation speed. The proposed model matching control (MMC) with danger index is used to not only change the robot stiffness but also avoid human injury to achieve safe human robot interaction (sHRI). The danger index (DI) based on the relative velocity and distance between human and the robot is developed to generate stiffness command so that human safety can be ensured even there is collision with the robot. Bond graph is adopted to model the active-passive variable stiffness elastic actuator (APVSEA) and design MMC controller. Experimental results show the proposed approach can achieve safe human robot interaction even under collision. © 2016, Chinese Mechanical Engineering Society. All right reserved.

引用

页码：587 / 596