No abstract

Chenguang (2019) Bayesian estimation of human impedance and motion intention for humanrobot collaboration. IEEE Transactions on Cybernetics. pp. 1-13.

Yu (2019) Estimation of human impedance and motion intention for constrained human-robot interaction. Neurocomputing.

A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay Science in China Series E-Technological Sciences 52, 2629 (2009); Adaptive fault-tolerant control based on boundary estimation for space robot under joint actuator faults and uncertain parameters Defence Technology 15, 964 (2019); Data-driven optimal cooperative adaptive cruise control of heterogeneous vehicle platoons with unknown dynamics SCIENCE CHINA Information Sciences 63, 190204 (2020); Bio-inspired robotic impedance adaptation for human-robot collaborative tasks SCIENCE CHINA Information Sciences 63, 170201 (2020); SCIENCE CHINA Information Sciences

Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human–robot collaborative tasks in assembly processes. The authors set three different regions where robot performs different collaborative ways: “teleoperate” region, “co-carry” region and “assembly” region. Human holds the “master” arm of dual-arm robot to operate the other “follower” arm by our proposed controller in “teleoperation” region. Limited by the human arm length, “follower” arm is teleoperated by human to carry the distant object. In the “co-carry” region, “master” arm and “follower” arm cooperatively carry the object to the region close to the human. In “assembly” region, “follower” arm is used for fixing the object and “master” arm coupled with human is used for assembly. Design/methodology/approach A human moving target estimated method is proposed for decreasing efforts for human to move “master” arm, radial basis functions neural networks are used to compensate for uncertainties in dynamics of both arms. Force feedback is designed in “master” arm controller for human to perceive the movement of “follower” arm. Experimental results on Baxter robot platform show the effectiveness of this proposed method. Findings Experimental results on Baxter robot platform show the effectiveness of our proposed methods. Different human-robot collaborative tasks in assembly processes are performed successfully under our cooperative control strategies for dual-arm robots. Originality/value In this paper, cooperative control strategies for dual-arm robots have been proposed in different human–robot collaborative tasks in assembly processes. Three different regions where robot performs different collaborative ways are set: “teleoperation” region, “co-carry” region and “assembly” region.

No abstract

In this paper, a fuzzy logic control strategy is proposed for solving trajectory tracking control issues of an uncertain manipulator. Fuzzy logic is utilized to compensate for nonlinear uncertainties in manipulator dynamics and full-state constraints are involved in full-state feedback controller design for ensuring motion constraints during movement processes. Disturbance observer (DO) is designed to counteract the effects of unknown nonlinear disturbances caused by friction force or other various forms of disturbance. Combining with Lyapunov theory and back-stepping method, the proposed method can guarantee error signals in closed-loop system semi-globally uniformly bounded (SGUB). In view of safe operation, tangent barrier Lyapunov functions (tBLFs) are chosen to maintain joint angle and velocity in a predefined constrained region in tracking processes. Finally, simulation results are carried out to show the effectiveness of our proposed control strategy. INDEX TERMS Fuzzy logic control, uncertain manipulator, tangent barrier Lyapunov functions (tBLFs), full-state constraints, disturbance observer (DO), full-state feedback, semi-globally uniformly bounded (SGUB).

No abstract