Compliant impedance control for a redundant manipulator during human robot interaction

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

doi:10.23919/IConAC.2018.8749048

Compliant impedance control for a redundant manipulator during human robot interaction

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

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.

Original language	English
Title of host publication	Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)
Editors	Xiandong Ma
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	6
ISBN (Electronic)	978-1-86220-342-6, 978-1-86220-341-9
ISBN (Print)	978-1-5386-4891-9
DOIs	https://doi.org/10.23919/IConAC.2018.8749048
Publication status	Published - 1 Jul 2019
Event	24th IEEE International Conference on Automation and Computing - Newcastle upon Tyne, United Kingdom Duration: 6 Sept 2018 → 7 Sept 2018

Conference

Conference	24th IEEE International Conference on Automation and Computing
Abbreviated title	ICAC 2018
Country/Territory	United Kingdom
City	Newcastle upon Tyne
Period	6/09/18 → 7/09/18

Keywords

Human-robot Interaction
Impedance Control
Null Space Control
Redundant Robot
RCUK
EPSRC
EP/S001913/1
noissn

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10.23919/IConAC.2018.8749048

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Jiang, Y., Yang, C., Ju, Z., Annamalai, A., & Liu, H. (2019). Compliant impedance control for a redundant manipulator during human robot interaction. In X. Ma (Ed.), Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC) Article 8749048 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/IConAC.2018.8749048

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title = "Compliant impedance control for a redundant manipulator during human robot interaction",

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.",

keywords = "Human-robot Interaction, Impedance Control, Null Space Control, Redundant Robot, RCUK, EPSRC, EP/S001913/1, noissn",

author = "Yiming Jiang and Chenguang Yang and Zhaojie Ju and Andy Annamalai and Honghai Liu",

year = "2019",

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editor = "Xiandong Ma",

booktitle = "Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)",

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address = "United States",

note = "24th IEEE International Conference on Automation and Computing, ICAC 2018 ; Conference date: 06-09-2018 Through 07-09-2018",

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Jiang, Y, Yang, C, Ju, Z, Annamalai, A & Liu, H 2019, Compliant impedance control for a redundant manipulator during human robot interaction. in X Ma (ed.), Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)., 8749048, Institute of Electrical and Electronics Engineers Inc., 24th IEEE International Conference on Automation and Computing, Newcastle upon Tyne, United Kingdom, 6/09/18. https://doi.org/10.23919/IConAC.2018.8749048

Compliant impedance control for a redundant manipulator during human robot interaction. / Jiang, Yiming ; Yang, Chenguang; Ju, Zhaojie et al.
Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC). ed. / Xiandong Ma. Institute of Electrical and Electronics Engineers Inc., 2019. 8749048.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Compliant impedance control for a redundant manipulator during human robot interaction

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AB - 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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KW - Null Space Control

KW - Redundant Robot

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BT - Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 24th IEEE International Conference on Automation and Computing

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ER -

Compliant impedance control for a redundant manipulator during human robot interaction

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