论文标题
基于被动性的安全物理机器人互动框架
A Passivity Based Framework for Safe Physical Human Robot Interaction
论文作者
论文摘要
在本文中，考虑了在人与辅助机器人之间进行安全合规接触的问题。残疾用户需要在日常生活的某些活动（ADL）中利用其辅助机器人进行人体互动（PHRI）。具体而言，我们根据安装在机器人手腕上的6轴力/扭矩传感器的测量值提出了针对PHRI系统的混合力/速度/态度控制。虽然将末端效应表面与未知环境（人）表面对齐，但在正常方向上施加了所需的指挥力，同时遵循切向方向的所需速度命令。提供了基于Lyapunov的稳定性分析，以证明融合和相互作用的被动性，以确保性能和安全性。模拟以及实验结果验证了在存在动态不确定性的情况下提出的杂种控制器的性能和鲁棒性，以及针对运动学上多余的机器人手机操纵器的安全物理人类机器人相互作用。
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during certain activities of daily living (ADLs). Specifically, we propose a hybrid force/velocity/attitude control for a PHRI system based on measurements from a 6-axis force/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal direction while following desired velocity commands in the tangential directions. A Lyapunov based stability analysis is provided to prove both convergence as well as passivity of the interaction to ensure both performance and safety. Simulation as well as experimental results verify the performance and robustness of the proposed hybrid controller in the presence of dynamic uncertainties as well as safe physical human-robot interactions for a kinematically redundant robotic manipulator.
