A decentralized robust impedance control method of modular robot manipulators with physical human robot interaction

被引：2

作者：

Jing, Yusheng ^{[1
]}

An, Tianjiao ^{[1
]}

Wang, Tianhe ^{[1
]}

Li, Yuanchun ^{[1
]}

Dong, Bo ^{[1
]}

机构：

[1] Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Peoples R China

来源：

2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年

基金：

中国国家自然科学基金;

关键词：

Modular robot manipulator; Impedance control; Physical human robot interaction; Human motion intention;

D O I：

10.1109/CCDC55256.2022.10033849

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an impedance control approach is presented for modular robot manipulator (MRM) system with physical human robot interaction (pHRI). Based on joint torque feedback (JTF) technique, the dynamic model of the manipulator systems is described as an integration of joint subsystems associated with the effect of interconnected dynamic coupling (IDC). The radial basis function neural network (RBFNN) has been employed to cope with of unknown human limb model. A dual closed-loop control framework of impedance control and decentralized robust control is proposed to deal with the force/position control problem. Based on Lyapunov theory, the tracking error of the closedloop robotic system is verified to be ultimately uniformly bounded (UUB). Finally, the effectiveness of the proposed method is verified by experiments.

引用

页码：5490 / 5495

页数：6

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