Passivity-based control of robotic manipulators for safe cooperation with humans

被引：16
作者：
Zanchettin, Andrea Maria [1 ]
Lacevic, Bakir [2 ]
Rocco, Paolo [1 ]
机构：
[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, I-20133 Milan, Italy
[2] Univ Sarajevo, Fac Elect Engn, Sarajevo 71000, Bosnia & Herceg
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2015年 / 88卷 / 02期
关键词：
robot control; Lyapunov stability; industrial robots; IMPEDANCE CONTROL; FRAMEWORK;
D O I：
10.1080/00207179.2014.956338
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 paper presents a novel approach to the control of articulated robots in unstructured environments. The proposed control ensures several properties. First, the controller guarantees the achievement of a goal position without getting stuck in local minima. Then, the controller makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Finally, the control law is explicitly shaped by the safety measure - the danger field. The proposed control law has been implemented and validated in a realistic experimental scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment, without any offline planning phase. Furthermore, the passivity of the system enables the robot to easily accommodate external forces on the tool, when a physical contact between the robot and the environment is established.
引用
收藏
页码：429 / 439
页数：11
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