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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. IEEE, 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, IEEE, 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). IEEE. 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). IEEE. 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. IEEE, 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",
author = "Yiming Jiang and Chenguang Yang and Zhaojie Ju and Andy Annamalai and Honghai Liu",
year = "2019",
month = "7",
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 = "IEEE",
editor = "Xiandong Ma",
booktitle = "Proceedings of the 2018 24th International Conference on Automation and Computing (ICAC)",

}

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

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 - IEEE

ER -

ID: 15817838