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Compliant impedance control for a redundant manipulator during human robot interaction

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Standard

Compliant impedance control for a redundant manipulator during human robot interaction. / Jiang, Yiming ; Yang, Chenguang; Ju, Zhaojie; Annamalai, Andy; Liu, Honghai.

Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC). ed. / Xiandong Ma. Institute of Electrical and Electronics Engineers, 2019. 8749048 (ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

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, ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing, Institute of Electrical and Electronics Engineers, 24th IEEE International Conference on Automation and Computing, Newcastle upon Tyne, United Kingdom, 6/09/18. https://doi.org/10.23919/IConAC.2018.8749048

APA

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] (ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing). Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/IConAC.2018.8749048

Vancouver

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

Author

Jiang, Yiming ; Yang, Chenguang ; Ju, Zhaojie ; Annamalai, Andy ; Liu, Honghai. / Compliant impedance control for a redundant manipulator during human robot interaction. Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC). editor / Xiandong Ma. Institute of Electrical and Electronics Engineers, 2019. (ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing).

Bibtex

@inproceedings{7da97c7ce005413daf2aa562aa9be22f,
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",
month = jul,
day = "1",
doi = "10.23919/IConAC.2018.8749048",
language = "English",
isbn = "978-1-5386-4891-9",
series = "ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing",
publisher = "Institute of Electrical and Electronics Engineers",
editor = "Xiandong Ma",
booktitle = "Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)",
note = "24th IEEE International Conference on Automation and Computing, ICAC 2018 ; Conference date: 06-09-2018 Through 07-09-2018",

}

RIS

TY - GEN

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

AU - Jiang, Yiming

AU - Yang, Chenguang

AU - Ju, Zhaojie

AU - Annamalai, Andy

AU - Liu, Honghai

PY - 2019/7/1

Y1 - 2019/7/1

N2 - 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.

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.

KW - Human-robot Interaction

KW - Impedance Control

KW - Null Space Control

KW - Redundant Robot

KW - RCUK

KW - EPSRC

KW - EP/S001913/1

KW - noissn

UR - http://www.scopus.com/inward/record.url?scp=85069172655&partnerID=8YFLogxK

U2 - 10.23919/IConAC.2018.8749048

DO - 10.23919/IConAC.2018.8749048

M3 - Conference contribution

SN - 978-1-5386-4891-9

T3 - ICAC 2018 - 2018 24th IEEE International Conference on Automation and Computing: Improving Productivity through Automation and Computing

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

A2 - Ma, Xiandong

PB - Institute of Electrical and Electronics Engineers

T2 - 24th IEEE International Conference on Automation and Computing

Y2 - 6 September 2018 through 7 September 2018

ER -

ID: 15817838