Bayesian motion intention estimation-based impedance control of modular robot manipulator: theory and experimental verification

被引：0
|
作者：
Li, Shijie [1 ]
An, Tianjiao [1 ]
Ma, Bing [1 ]
Gao, Yuhang [1 ]
Dong, Bo [1 ]
机构：
[1] Changchun Univ Technol, Dept Control Sci & Engn, Changchun, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
基金：
中国国家自然科学基金;
关键词：
Modular robot manipulator; Human motion intention; Impedance control; Physical human robot interaction;
D O I：
10.1109/CCDC58219.2023.10326701
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article proposes an impedance control method of modular robot manipulator (MRM) system for physical human-robot interaction (pHRI). Bayesian parameter estimation is employed to identify human motion intention, which is considered as the desired trajectory in impedance control that allows the MRM easily to track the target impedance model. The uniformly ultimately bounded (UUB) of the tracking error is proved based on Lyapunov theory, and the experimental results demonstrate the effectiveness of the proposed control method in pHRI.
引用
收藏
页码：3477 / 3481
页数：5
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