Human-robot Collaboration of Parallel Robots Based on Fractional Admittance and Inverse Dynamic Robust Control

被引：0

作者：

Sun, Deyuan ^{[1
,2
]}

Wang, Junyi ^{[2
,3
,4
]}

Xu, Zhigang ^{[2
,3
,4
]}

Bao, Jianwen ^{[4
]}

Wang, Zhijun ^{[5
]}

Liu, Huifang ^{[1
]}

机构：

[1] School of Mechanical Engineering, Shenyang University of Technology, Shenyang

[2] State Key Laboratory of Ｒobotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang

[3] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Science, Shenyang

[4] Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang

[5] Inner Mongolia Aerospace Hongxia Chemical Co., Ltd., Hohhot

来源：

Jiqiren/Robot | 2024年 / 46卷 / 06期

关键词：

admittance control; collaborative robot; fractional control; parallel robot; robust control;

D O I：

10.13973/j.cnki.robot.230344

中图分类号：

学科分类号：

摘要：

The traditional tandem robots are of limited carrying capacity and low accuracy, and the closed-loop structure of parallel robots increases the difficulty in solving dynamics and has a slow response speed. Both structures can’t meet the requirements of human-robot collaboration. This paper proposes a fractional-order admittance control algorithm to address these issues to improve response performance while enabling human-robot collaboration. An inverse dynamics robust control algorithm is also designed to ensure robustness against unknown interaction forces. The proposed control algorithm is applied to a classical Stewart parallel platform, and its response and tracking performance are evaluated through experiments. The results show that the described method resulted in an average 51.16% increase in the response speed of the Stewart parallel platform to unknown interaction forces in the Z-axis translational degree of freedom, where the loading task is heaviest, as well as an average reduction in the peak tracking error of 50.83%. © 2024 Chinese Academy of Sciences. All rights reserved.

引用

页码：725 / 731

页数：6

共 18 条

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