Affiliation:
1. School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China
Abstract
In order to improve compliance in human–robot interaction, a sensorless variable impedance control method is proposed. Variable impedance control is constructed using the end-effector velocity and the human–robot interaction force. Then, the impedance parameters are adjusted online to make the end-effector velocity more compliant with human behavior. Next, a velocity controller is designed to stabilize the end-effector velocity, and a compensation force is designed to avoid the measurement of the interaction force. Based on the velocity controller and the compensation force, an integrated controller is constructed to achieve stable end-effector velocity while compensating the interaction force online. The Lyapunov theory proves that with the sensorless variable impedance control, the system is stable, and the velocity tracking is bounded; simulation results demonstrate its feasibility. The sensorless variable impedance control can achieve more stable velocity and better compliance in human–robot interaction.
Funder
National Natural Science Foundation of China
Subject
General Physics and Astronomy