Model-free Impedance Control for Safe Human-Robot Interaction

摘要：

In this paper, model-free impedance control is designed for the safe human-robot interaction. A passive impedance model is imposed on the robot and a control method is proposed to guarantee the robot dynamics governed by the target model. The proposed method does not require any model information except for upper bounds of system matrix. It is thus easy to apply to practical implementation. The rigorous analysis of the control performance and robustness is presented. The validity of the proposed method is verified on the six degreesof- freedom (DOF) PUMA 560 robot arm through simulation.

作者: Yanan Li Shuzhi Sam Ge Chenguang Yang Xinyang Li Keng Peng Tee

作者单位: Social Robotics Lab,Interactive Digital Media Institute and the NUS Graduate School for Integrative Social Robotics Lab,Interactive Digital Media Institute and the Department of Electrical and Compute School of Computing and Mathematics,University of Plymouth,Plymouth PL4 8AA,United Kingdom Institute for Infocomm Research,A*STAR,Singapore 138632

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6021-6026

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）