Event-based Hybrid Impedance and Admittance Control

被引：0
|
作者：
Yang, Bo [1 ]
Zhai, Di-Hua [1 ]
Lyu, Weizhi [1 ]
Xia, Yuanqing [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
Human-robot interaction; compliant control; hybrid control; impedance control; admittance control;
D O I：
10.23919/chicc.2019.8866233
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 proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design..
引用
收藏
页码：4596 / 4601
页数：6
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