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

页码：429 / 439

页数：11

共 50 条

[41] Critic Learning-Based Control for Robotic Manipulators With Prescribed Constraints [J].

Ouyang, Yuncheng ;

Dong, Lu ;

Sun, Changyin .

IEEE TRANSACTIONS ON CYBERNETICS, 2022, 52 (04) :2274-2283

[42] Learning-based Modified Transpose Jacobian Control of Robotic Manipulators [J].

Karimi, Mahmood ;

Moosavian, S. Ali A. .

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2008, :1290-1295

[43] Passivity-Based Model Predictive Control for Tethered Despin of Massive Space Objects by Small Space Tug [J].

Kang, Junjie ;

Zhu, Zheng H. .

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2023, 59 (02) :1239-1248

[44] A predictive control application to force control of robotic manipulators [J].

Botto, MA ;

Baptista, LF ;

da Costa, JMG .

ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1997, 1997, :303-304

[45] Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation [J].

Shahriari, Erfan ;

Birjandi, Seyed Ali Baradaran ;

Haddadin, Sami .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (02) :2194-2201

[46] Hierarchical Passivity-Based Force-Position-Configuration Coordinated Control of Multi-Branch Spacecraft [J].

Lu, Lang ;

Yue, Chengfei ;

Shen, Qiang ;

Cao, Xibin .

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2025, 61 (02) :4223-4237

[47] NEURO-ADAPTIVE CONTROL OF ROBOTIC MANIPULATORS [J].

KHEMAISSIA, S ;

MORRIS, AS .

ROBOTICA, 1993, 11 :465-473

[48] Robust fuzzy tracking control for robotic manipulators [J].

Ho, H. F. ;

Wong, Y. K. ;

Rad, A. B. .

SIMULATION MODELLING PRACTICE AND THEORY, 2007, 15 (07) :801-816

[49] MOTION AND FORCE CONTROL OF MULTIPLE ROBOTIC MANIPULATORS [J].

WEN, JT ;

KREUTZDELGADO, K .

AUTOMATICA, 1992, 28 (04) :729-743

[50] Finite-time control of robotic manipulators [J].

Galicki, Miroslaw .

AUTOMATICA, 2015, 51 :49-54

← 1 2 3 4 5 →