Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

被引：5
|
作者：
Mao, Dachao [1 ]
Yang, Wenlong [1 ]
Du, Zhijiang [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
来源：
3RD INTERNATIONAL CONFERENCE ON ADVANCES IN ENERGY, ENVIRONMENT AND CHEMICAL ENGINEERING | 2017年 / 69卷
基金：
国家高技术研究发展计划(863计划);
关键词：
D O I：
10.1088/1755-1315/69/1/012090
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm's stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.
引用
收藏
页数：7
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