Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction

被引：0

作者：

Jiang, Yiming ^{[1
,2
]}

Yang, Chenguang ^{[3
]}

Ju, Zhaojie ^{[2
]}

Annamalai, Andy ^{[4
]}

Liu, Honghai ^{[2
]}

机构：

[1] South China Univ Technol, Coll Automat Sci & Engn, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R China

[2] Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, Hants, England

[3] Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales

[4] Univ Highlands & Isl, Moray Coll, Elgin IV30 1JJ, Scotland

来源：

2018 24TH IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND COMPUTING (ICAC' 18) | 2018年

基金：

英国工程与自然科学研究理事会;

关键词：

Redundant Robot; Human-robot Interaction; Null Space Control; Impedance Control; ACTUATOR;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robot control with a compliant motion behaviour is important to guarantee the safety of human robot interaction. In this paper, we aim to guarantee the desired task impedance of the end-effector and to ensure a compliant behaviour of a redundant robot during human robot interactions. A task space impedance control scheme is proposed by designing a transferred impedance error, such that the robot end-effector can be governed to follow a target impedance model. Additionally, a low-priority controller is designed using the null space projection, such that compliant joint motion is guaranteed without affecting the main task. The stability of the whole system is illustrated using a conditional Lyapunov theorem. Simulation studies based on a plane redundant robot is carried out to demonstrate the validity of the proposed controller.

引用

页码：224 / 229

页数：6

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