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Compliant impedance control for a redundant manipulator during human robot interaction

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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 languageEnglish
Title of host publicationProceedings of the 2018 24th International Conference on Automation and Computing (ICAC)
EditorsXiandong Ma
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)978-1-86220-342-6, 978-1-86220-341-9
ISBN (Print)978-1-5386-4891-9
Publication statusPublished - 1 Jul 2019
Event24th IEEE International Conference on Automation and Computing - Newcastle upon Tyne, United Kingdom
Duration: 6 Sep 20187 Sep 2018


Conference24th IEEE International Conference on Automation and Computing
Abbreviated titleICAC 2018
CountryUnited Kingdom
CityNewcastle upon Tyne


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