{"title":"考虑人的直觉意图的安全物理人机交互变导纳控制","authors":"Liang Han , Longfei Zhao , Yunzhi Huang , Wenfu Xu","doi":"10.1016/j.mechatronics.2023.103098","DOIUrl":null,"url":null,"abstract":"<div><p>The trajectory planning of the arm is greatly facilitated by the physical direct teaching technology. Variable admittance control is a promising technology when a robot is interacting with a variable environment, such as a human whose stiffness might change during the interaction. Nevertheless, a canonical admittance controller with imperfect parameters may lead to robot oscillation, which brings more challenges to a variable admittance controller. In this paper, we propose an energy-based variable admittance controller with intrinsic oscillation suppression property. During the physical human–robot interaction (pHRI), the human intention is predicted based on the robot’s state and interaction force. The admittance parameters are tuned automatically to conform the robot’s motion to human intention. When the oscillation is detected online by the proposed wavelet module, our variable admittance model reveals oscillation suppression ability because of dissipating the energy generated by high-frequency oscillation. We compared the proposed variable admittance controller with other admittance controller approaches in both simulation and actual robot experiments. The proposed method shows significant improvement in oscillation suppression and human energy conservation in the human–robot interaction application.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582300154X/pdfft?md5=e42c1747a17ce21167ee9b18ca34e90a&pid=1-s2.0-S095741582300154X-main.pdf","citationCount":"0","resultStr":"{\"title\":\"Variable admittance control for safe physical human–robot interaction considering intuitive human intention\",\"authors\":\"Liang Han , Longfei Zhao , Yunzhi Huang , Wenfu Xu\",\"doi\":\"10.1016/j.mechatronics.2023.103098\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>The trajectory planning of the arm is greatly facilitated by the physical direct teaching technology. Variable admittance control is a promising technology when a robot is interacting with a variable environment, such as a human whose stiffness might change during the interaction. Nevertheless, a canonical admittance controller with imperfect parameters may lead to robot oscillation, which brings more challenges to a variable admittance controller. In this paper, we propose an energy-based variable admittance controller with intrinsic oscillation suppression property. During the physical human–robot interaction (pHRI), the human intention is predicted based on the robot’s state and interaction force. The admittance parameters are tuned automatically to conform the robot’s motion to human intention. When the oscillation is detected online by the proposed wavelet module, our variable admittance model reveals oscillation suppression ability because of dissipating the energy generated by high-frequency oscillation. We compared the proposed variable admittance controller with other admittance controller approaches in both simulation and actual robot experiments. The proposed method shows significant improvement in oscillation suppression and human energy conservation in the human–robot interaction application.</p></div>\",\"PeriodicalId\":49842,\"journal\":{\"name\":\"Mechatronics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2023-11-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.sciencedirect.com/science/article/pii/S095741582300154X/pdfft?md5=e42c1747a17ce21167ee9b18ca34e90a&pid=1-s2.0-S095741582300154X-main.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechatronics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S095741582300154X\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S095741582300154X","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Variable admittance control for safe physical human–robot interaction considering intuitive human intention
The trajectory planning of the arm is greatly facilitated by the physical direct teaching technology. Variable admittance control is a promising technology when a robot is interacting with a variable environment, such as a human whose stiffness might change during the interaction. Nevertheless, a canonical admittance controller with imperfect parameters may lead to robot oscillation, which brings more challenges to a variable admittance controller. In this paper, we propose an energy-based variable admittance controller with intrinsic oscillation suppression property. During the physical human–robot interaction (pHRI), the human intention is predicted based on the robot’s state and interaction force. The admittance parameters are tuned automatically to conform the robot’s motion to human intention. When the oscillation is detected online by the proposed wavelet module, our variable admittance model reveals oscillation suppression ability because of dissipating the energy generated by high-frequency oscillation. We compared the proposed variable admittance controller with other admittance controller approaches in both simulation and actual robot experiments. The proposed method shows significant improvement in oscillation suppression and human energy conservation in the human–robot interaction application.
期刊介绍:
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.