Conference Paper/Proceeding/Abstract 549 views
Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
2018 24th International Conference on Automation and Computing (ICAC), Pages: 1 - 6
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.23919/IConAC.2018.8749048
Abstract
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 im...
| Published in: | 2018 24th International Conference on Automation and Computing (ICAC) |
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| ISBN: | 978-1-5386-4891-9 978-1-86220-341-9 |
| Published: |
Newcastle, UK
2018 24th International Conference on Automation and Computing (ICAC)
2018
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa51287 |
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| Abstract: |
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. |
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| College: |
Faculty of Science and Engineering |
| Start Page: |
1 |
| End Page: |
6 |