Adaptive impedance control with trajectory adaptation for minimizing interaction force

Luo, Jing, Yang, Chenguang, Burdet, Etienne and Li, Yanan (2020) Adaptive impedance control with trajectory adaptation for minimizing interaction force. The 29th IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020), Virtual, 31 Aug - 04 Sept, 2020. Published in: Robot and Human Communication (ROMAN). IEEE (Accepted)

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Abstract

In human-robot collaborative transportation and sawing tasks, the human operator physically interacts with the robot and directs the robot’s movement by applying an interaction force. The robot needs to update its control strategy to adapt to the interaction with the human and to minimize the interaction force. To this end, we propose an integrated algorithm of robot trajectory adaptation and adaptive impedance control to minimize the interaction force in physical humanrobot interaction (pHRI) and to guarantee the performance of the collaboration tasks. We firstly utilize the information of the interaction force to regulate the robot’s reference trajectory. Then, an adaptive impedance controller is developed to ensure automatic adaptation of the robot’s impedance parameters. While one can reduce the interaction force by using either trajectory adaptation or adaptive impedance control, we investigate the task performance when combining both. Experimental results on a planar robotic platform verify the effectiveness of the proposed method.

Item Type: Conference Proceedings
Schools and Departments: School of Engineering and Informatics > Engineering and Design
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SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 01 Jul 2020 08:24
Last Modified: 01 Jul 2020 08:24
URI: http://sro.sussex.ac.uk/id/eprint/92206

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