DocumentCode
2692213
Title
Model-free impedance control for safe human-robot interaction
Author
Li, Xinyang ; Ge, Shuzhi Sam ; Yang, Chenguang ; Xinyang Li ; Tee, Keng Peng
Author_Institution
Social Robot. Lab., Nat. Univ. of Singapore, Singapore, Singapore
fYear
2011
fDate
9-13 May 2011
Firstpage
6021
Lastpage
6026
Abstract
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 degrees of-freedom (DOF) PUMA 560 robot arm through simulation.
Keywords
control system synthesis; human-robot interaction; robot dynamics; PUMA 560 robot arm; model-free impedance control; passive impedance model; robot dynamics; safe human-robot interaction; system matrix; Adaptation models; Control design; Impedance; Joints; Robot kinematics; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979855
Filename
5979855
Link To Document