Optimal physical human-robot collaborative controller with user-centric tuning

被引:3
作者
Roveda, Loris [1 ]
Mantovani, Lorenzo [2 ]
Maccarini, Marco [1 ]
Braghin, Francesco [2 ]
Piga, Dario [1 ]
机构
[1] Univ Svizzera Italiana USI, Scuola Univ Profess Svizzera Italiana SUPSI, Ist Dalle Molle Intelligenza Artificiale IDSI, IDSIA SUPSI, CH-6928 Manno, Switzerland
[2] Politecn Milan, Dept Mech Engn, Milan, Italy
关键词
Human-robot collaboration; Optimal control; Passive velocity field control; Impedance control; Intelligent control; Preference-based optimization; VELOCITY-FIELD CONTROL; CONTROL PVFC; IMPEDANCE; MODEL; OPTIMIZATION; FORMULATION; FORCE;
D O I
10.1016/j.conengprac.2023.105621
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Collaborative robots are increasingly used in different fields of application to physically interact with the human (e.g., manufacturing, rehabilitation, etc.) In order to improve the physical collaboration performance, the interaction between the user and the robot must be safe, smooth, and intuitive. Indeed, this paper proposes a controller which is composed of three nested loops. A Passive Velocity Field Control (PVFC) defines the lowest control layer, ensuring the passivity of the system. The intermediate control layer is defined by a Cartesian impedance controller, managing the interaction between the user and the robot and sending to the PVFC a reference position. The outer layer is defined by a Linear Quadratic Regulator (LQR), detecting the intention of motion of the user and deforming accordingly the Cartesian impedance setpoint to follow such a motion. In addition, to enhance the collaboration performance for each user, a preference-based optimization approach is employed to tune the control parameters, implementing a human-centric tuning procedure. In such a way, the controller is customized for the specific user to establish the proper interaction with the robot. The proposed controller has been evaluated by making use of a Franka EMIKA panda robot as a test platform, comparing the achieved performance with a controller previously developed by some of the authors in a free-motion collaborative task along the z vertical direction. Achieved results show the improved performance obtained by the proposed controller. In addition, an assembly task has also been optimized to show the potential of the proposed control framework in complex and realistic situations.
引用
收藏
页数:15
相关论文
共 70 条
  • [1] Artemiadis P. K., 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), P3103, DOI 10.1109/IROS.2010.5652025
  • [2] The explicit linear quadratic regulator for constrained systems
    Bemporad, A
    Morari, M
    Dua, V
    Pistikopoulos, EN
    [J]. AUTOMATICA, 2002, 38 (01) : 3 - 20
  • [3] Global optimization based on active preference learning with radial basis functions
    Bemporad, Alberto
    Piga, Dario
    [J]. MACHINE LEARNING, 2021, 110 (02) : 417 - 448
  • [4] Global optimization via inverse distance weighting and radial basis functions
    Bemporad, Alberto
    [J]. COMPUTATIONAL OPTIMIZATION AND APPLICATIONS, 2020, 77 (02) : 571 - 595
  • [5] Bengs V, 2021, Arxiv, DOI [arXiv:1807.11398, DOI arXiv:1807.11398.v1]
  • [6] Six-DOF impedance control based on angle/axis representations
    Caccavale, F
    Natale, C
    Siciliano, B
    Villani, L
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (02): : 289 - 300
  • [7] Choi J, 2020, IEEE INT CONF ROBOT, P3363, DOI [10.1109/ICRA40945.2020.9197159, 10.1109/icra40945.2020.9197159]
  • [8] Cimen T., 2008, IFAC P, V41, P3761
  • [9] AN ANALYSIS OF CONTACT INSTABILITY IN TERMS OF PASSIVE PHYSICAL EQUIVALENTS
    COLGATE, E
    HOGAN, N
    [J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 404 - 409
  • [10] Model-Free Online Neuroadaptive Controller With Intent Estimation for Physical Human-Robot Interaction
    Cremer, Sven
    Das Sumit, Kumar
    Wijayasinghe, Indika B.
    Popa, Dan O.
    Lewis, Frank L.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2020, 36 (01) : 240 - 253