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Conference Paper/Proceeding/Abstract 464 views

Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction

Yiming Jiang, Chenguang Yang, Zhaojie Ju, Andy Annamalai, Honghai Liu

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...

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Published in: 2018 24th International Conference on Automation and Computing (ICAC)
ISBN: 978-1-5386-4891-9 978-1-86220-341-9
Published: Newcastle, UK 2018 24th International Conference on Automation and Computing (ICAC) 2018
URI: https://cronfa.swan.ac.uk/Record/cronfa51287
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first_indexed 2019-08-01T16:29:24Z
last_indexed 2019-08-01T16:29:24Z
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spelling 2019-08-01T09:08:47.3828617 v2 51287 2019-08-01 Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2019-08-01 EEN 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. Conference Paper/Proceeding/Abstract 2018 24th International Conference on Automation and Computing (ICAC) 1 6 2018 24th International Conference on Automation and Computing (ICAC) Newcastle, UK 978-1-5386-4891-9 978-1-86220-341-9 31 12 2018 2018-12-31 10.23919/IConAC.2018.8749048 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2019-08-01T09:08:47.3828617 2019-08-01T09:05:54.8200258 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Yiming Jiang 1 Chenguang Yang 2 Zhaojie Ju 3 Andy Annamalai 4 Honghai Liu 5
title Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
spellingShingle Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
Chenguang Yang
title_short Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
title_full Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
title_fullStr Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
title_full_unstemmed Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
title_sort Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Yiming Jiang
Chenguang Yang
Zhaojie Ju
Andy Annamalai
Honghai Liu
format Conference Paper/Proceeding/Abstract
container_title 2018 24th International Conference on Automation and Computing (ICAC)
container_start_page 1
publishDate 2018
institution Swansea University
isbn 978-1-5386-4891-9
978-1-86220-341-9
doi_str_mv 10.23919/IConAC.2018.8749048
publisher 2018 24th International Conference on Automation and Computing (ICAC)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 0
active_str 0
description 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.
published_date 2018-12-31T04:03:07Z
_version_ 1763753263165865984
score 11.017797

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