Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance with the external force while upholding safety constraints in the workspace for an n-link manipulator involved in pHRI. A switched reference model is designed for the admittance controller to generate the reference trajectory within the safe workspace. The stability analysis of the switched reference model is carried out by an appropriate selection of the Common Quadratic Lyapunov Function (CQLF) so that asymptotic convergence of the trajectory tracking error is ensured. The efficacy of the proposed controller is validated in simulation on a two-link robot manipulator.
翻译:实际人体机器人互动(pHRI)任务涉及安全限制与遵守人类意图之间的紧密结合。在本文件中,开发了一个新的转换模式参考接收控制器,以保持对外部力量的遵守,同时维护工作空间中Nink操纵器的安全限制。为接收控制器设计了一个转换参考模型,以便在安全工作空间内生成参考轨迹。对调换参考模式的稳定分析是通过适当选择通用Quadratic Lyapunov函数(CQLF)进行,以确保轨迹跟踪错误的无症状融合。拟议的控制器的效力在双链接机器人操纵器的模拟中得到验证。