Abstract
Admittance control strategy is a vital control method to implement the compliance control of robots. However, the constant admittance parameters often cannot meet the actual needs of dynamic interaction. Aiming to ameliorate the limitation of constant admittance control in the physical human-robot interaction process, fuzzy variable admittance control method on the basis of stiffness identification is put forward to achieve better compliance control capability of a collaborative robots. The operator’s arm stiffness is identified through the recursive least squares method to enhance controller’s stability. The stiffness information can change the upper limit of the adjustment range of the damping coefficient in real-time. Completed the experiment of free traction motion in the vertical z direction of the UR3e collaborative robot. The outcome indicates that the control method proposed can fulfill the changing requirements of the damping coefficient in each stage of the physical human-computer interaction process and improve the compliance motion performance of the cooperative robot pending the physical human-robot interaction process.
This work was supported in part by the National Natural Science Foundation of China under Grant 51905136 and in part by the Natural Science Foundation of Heilongjiang Province under Grant LH2020E088.
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Li, J., Zhang, Y., Chen, C., Wang, Z., You, B. (2023). A Fuzzy Variable Admittance Control Method to Ensure Compliance Motion of a Cooperative Robot. In: Fu, W., Gu, M., Niu, Y. (eds) Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022). ICAUS 2022. Lecture Notes in Electrical Engineering, vol 1010. Springer, Singapore. https://doi.org/10.1007/978-981-99-0479-2_155
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DOI: https://doi.org/10.1007/978-981-99-0479-2_155
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