A Position and Torque Switching Control Method for Robot Collision Safety

Li, Zhi-Jing; Wu, Haibin; Yang, Jianming; Wang, Minghao; Ye, Jinhua

doi:10.1007/s11633-017-1104-9

Cited by 16 publications

(9 citation statements)

References 31 publications

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“…Interestingly, they conclude that admittance control provide the fastest reaction behavior. Reaction strategies are also of interest to our work where the robot switches from active to passive mode; as in Li et al (2018) where the robot switches from position control to a passive torque-control upon collision with a human user. In contrast, we use a unified control architecture (i.e., DS-based admittance controller with human-guidance detection) which allows us to smoothly switch back and forth between active and passive modes.…”

Section: Related Workmentioning

confidence: 99%

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Khoramshahi

Billard

2020

Auton Robot

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A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human intentional forces. The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection algorithm to switch across the two roles. In the absence of human-guidance, the robot performs its task autonomously and upon detection of such guidances the robot passively follows the human motions. We employ dynamical systems to generate task-specific motion and admittance control to generate reactive motions toward the human-guidance. This structure enables the robot to reject undesirable perturbations, track the motions precisely, react to human-guidance by providing proper compliant behavior, and re-plan the motion reactively. We provide analytical investigation of our method in terms of tracking and compliant behavior. Finally, we evaluate our method experimentally using a 6-DoF manipulator.

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Section: Related Workmentioning

confidence: 99%

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Khoramshahi

Billard

2020

Auton Robot

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“…The robot collision methods proposed in Refs. [9,10] are also based on the method of measuring the joint current. The model-based approach is relatively simple compared to methods of analyzing current signals.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Sensor for Collision Detection and Distinction with Conventional Industrial Robots

2019

Sensors

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Physical contact inevitably occurs during robot interaction with outside environments. A robot should have the ability to detect and distinguish whether a physical interaction between a human and the robot is contact or collision, so as to ensure human safety and improve interaction performance. In this paper, a virtual sensor that can detect and distinguish contact and collision between humans and industrial robots is proposed. Based on the generalized momentum of the robot, two observers with low-pass and band-pass filter characteristics were designed in this virtual sensor to realize the robot collision detection. Using the different frequency distribution ranges of the lighter contact force signal and the heavier collision force signal, the filter parameters in the two observers were appropriately selected to distinguish between collisions and contacts in close interaction between humans and robots. The virtual sensor does not require acceleration information or inverse dynamics calculations. It only needs to sample the motor driving current and position information of the robot joint, and can easily be applied to conventional industrial robots. The experimental results show that the low-pass and band-pass torque observers can detect different force signals in real-time, and the proposed virtual sensor can be used for collision detection and distinction in human–robot interactions.

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“…The variable impedance control method is also often applied to the control process after collision detection, which realizes the effective control of force/position and improves the safety and robustness of the whole collision process (Karamali Ravandi et al , 2018; Li et al , 2018; Feliu-Talegon et al , 2019; Gierlak and Szuster, 2017; Pliego-Jiménez and Arteaga-Pérez, 2015a). In Pliego–Jiménez and Arteaga–Pérez (2015), it is considered that the force/bit hybrid control scheme, using the impedance control strategy and the force detection unit, is used to achieve the effective estimation of the residual.…”

Section: Introductionmentioning

confidence: 99%

Collision detection and force control based on the impedance approach and dynamic modelling

Wang

Zhang

2019

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Purpose This paper aims to address the collision problem between robot and the external environment (including human) in an unstructured situation. A new collision detection and torque optimization control method is proposed. Design/methodology/approach Firstly, when the collision appears, a second-order Taylor observer is proposed to estimate the residual value. Secondly, the band-pass filter is used to reduce the high-frequency torque modeling dynamic uncertainty. With the estimate information and the torque value, a variable impedance control approach is then synthesized to guarantee that the collision is avoided or the collision will be terminated with different contact models and positions. However, in terms of adaptive linear force error, the variation of the thickness of the boundary layer is controlled by the new proximity function. Findings Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process. Originality/value Origin approach and origin experiment.

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A Position and Torque Switching Control Method for Robot Collision Safety

Cited by 16 publications

References 31 publications

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

A Virtual Sensor for Collision Detection and Distinction with Conventional Industrial Robots

Collision detection and force control based on the impedance approach and dynamic modelling

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