Stability compensation of an admittance-controlled cartesian robot considering physical interaction with a human operator

Narawich Songthumjitti, T. Inaba
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Abstract

In human-machine systems, admittance control is widely used for controlling robots. However, the problem with this method is that the stability can be impacted by the stiffness of the machine and the human operator. In order to minimize the oscillation issue that is caused by insufficient structure stiffness, this study used compensation methods, specifically feed-forward and acceleration feedback. Simulation results show that both compensation methods can expand the stability region of the system. Nevertheless, feedback compensation is more appropriate than feed-forward when taking into account uncertainties in the structure parameters of the system. Even when the system is not perfectly implemented, feedback compensation can keep the system stable, whereas feed-forward compensation causes a significantly reduced stability region. From the experiment, it is also confirmed that the feedback system has an advantage over the feed-forward system, and this simple feedback using an accelerometer can compensate for the insufficient stiffness of the robot structure and greatly enhance the stability of the human-machine system.
考虑与人类操作者物理交互的导纳控制直角机器人的稳定性补偿
在人机系统中,导纳控制被广泛用于控制机器人。然而,这种方法的问题是稳定性会受到机器和操作人员的刚度的影响。为了最大限度地减少由于结构刚度不足引起的振动问题,本研究采用了补偿方法,特别是前馈和加速度反馈。仿真结果表明,两种补偿方法均能扩大系统的稳定区域。然而,当考虑到系统结构参数的不确定性时,反馈补偿比前馈补偿更合适。即使在系统实现不完美的情况下,反馈补偿也能保持系统的稳定,而前馈补偿会导致稳定区域的显著减小。从实验中也证实了反馈系统比前馈系统有优势,这种使用加速度计的简单反馈可以弥补机器人结构刚度不足,大大提高了人机系统的稳定性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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