基于无模型阻抗控制的机器人辅助康复安全交互无奇点方法

I. Sharifi, A. Doustmohammadi, H. Talebi
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引用次数: 4

摘要

本文利用机器人康复的混合控制技术,提出了一种安全人机交互的无奇点控制算法。利用max-plus代数,设计了一种混合控制器,以保证机器人在运动奇异点附近可行运动或经过并停留在奇异位形。本文采用的方法使用无模型阻抗控制,因此除了系统矩阵的上界之外,它不需要任何关于模型的信息。利用多重李雅普诺夫函数理论研究了该方法的稳定性。将所提出的控制算法应用于六轴工业机械臂PUMA 560,结果验证了所提出控制方案的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A singularity-free approach for safe interaction of robot assisted rehabilitation, based on model-free impedance control
In this paper, using a hybrid control technique for robotic rehabilitation, a singularity-free control algorithm for the safe robot-human interaction is proposed. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper uses a model-free impedance control and hence it does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to a six-axis industrial robot arm, namely PUMA 560 and the results demonstrate the validity of the proposed control scheme.
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