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Force tracking control for motion synchronization in human-robot collaboration
journal contribution
posted on 2023-06-09, 09:23 authored by Yanan Li, Shuzhi Sam GeIn 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
RoboticaISSN
0263-5747Publisher
Cambridge University PressExternal DOI
Issue
06Volume
34Page range
1260-1281Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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