Variable Admittance Control by Measuring Arm Impedance

被引：0
|
作者：
Duan, Rui [1 ,2 ]
Wang, Chongchong [1 ]
Chen, Chin-Yin [1 ]
Yang, Guilin [1 ]
Chen, Long [3 ]
机构：
[1] Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Beijing 315201, Peoples R China
[2] Tanyuan Univ Sci & Technol, Taiyuan 030024, Peoples R China
[3] Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT II | 2021年 / 13014卷
关键词：
Human-robot collaboration; Admittance control; Human arm impedance model;
D O I：
10.1007/978-3-030-89098-8_45
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a variable admittance control (VAC) method of human-robot collaboration (HRC) based on human body impedance. In HRC, when the stiffness of a person's arm increases, the control based on fixed admittance parameters become unusable. VAC is proposed, which makes the damping coefficient in the robot admittance parameters determined by the stiffness of the end of the human arm and the system's stability. The damping parameters are changed according to the speed of the end of the robot, so that the HRC is easy to complete.
引用
收藏
页码：480 / 490
页数：11
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