Compliant impedance control for a redundant manipulator during human robot interaction
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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.
|Title of host publication||Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)|
|Publisher||Institute of Electrical and Electronics Engineers|
|Number of pages||6|
|ISBN (Electronic)||978-1-86220-342-6, 978-1-86220-341-9|
|Publication status||Published - 1 Jul 2019|
|Event||24th IEEE International Conference on Automation and Computing - Newcastle upon Tyne, United Kingdom|
Duration: 6 Sep 2018 → 7 Sep 2018
|Conference||24th IEEE International Conference on Automation and Computing|
|Abbreviated title||ICAC 2018|
|City||Newcastle upon Tyne|
|Period||6/09/18 → 7/09/18|
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Accepted author manuscript (Post-print), 1 MB, PDF document