Adaptive Impedance Decentralized Control of Modular Robot Manipulators for Physical Human-robot Interaction

被引：1
|
作者：
Dong, Bo [1 ]
Jing, Yusheng [1 ]
Zhu, Xinye [1 ]
Cui, Yiming [1 ]
An, Tianjiao [1 ]
机构：
[1] Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Peoples R China
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2023年 / 109卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Modular robot manipulator; Adaptive impedance control; Physical human robot interaction; Human motion intention estimation; FORCE TRACKING; TASK;
D O I：
10.1007/s10846-023-01978-0
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
For the problem of dynamic contact force tracking control under physical human-robot interaction (pHRI), we propose a dual closed-loop adaptive decentralized control framework. The dynamic model of modular robot manipulator (MRM) subsystem is established based on joint torque feedback (JTF) technology. On the basis of fully analyzing the model uncertainty, the method based on decomposition is used to dynamically compensate the model uncertainty. Using Lyapunov theory, the uniform and ultimate boundedness (UUB) of dynamic contact force tracking error and MRM position tracking error in pHRI process are confirmed. A neural network (NN) observer is designed to dynamically compensate the uncertainty of controller. Finally, the effectiveness of this method is verified by experiments.
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页数：15
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