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Force tracking control for motion synchronization in human-robot collaboration

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posted on 2023-06-09, 09:23 authored by Yanan Li, Shuzhi Sam Ge
In this paper, motion synchronization is investigated for human-robot collaboration such that the robot is able to “actively” follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control and neural networks (NN) control are developed to generate periodic and arbitrary continuous trajectories, respectively. Stability and tracking performance of the closed-loop system are discussed through rigorous analysis. The validity of the proposed method is verified through simulation and experiment studies.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

Robotica

ISSN

0263-5747

Publisher

Cambridge University Press

Issue

06

Volume

34

Page range

1260-1281

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2017-12-15

First Open Access (FOA) Date

2017-12-15

First Compliant Deposit (FCD) Date

2017-12-14

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