Fractional order admittance control for physical human-robot interaction
Fractional order admittance control for physical human-robot interaction
复制标题
人机物理交互的分数阶导纳控制
DOI：
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复制
发表时间：
2017
期刊：
影响因子：
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通讯作者：
C. Basdogan
中科院分区：
文献类型：
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作者：
Yusuf Aydin;Ozan Tokatli;V. Patoglu;C. Basdogan
在物理人机交互（physical human-robot interaction，pHRI）中，人类的认知技能与机器人的准确性、可重复性和强度相结合。虽然pHRI的承诺和潜在的结果是迷人的，这种耦合系统的控制在许多方面是具有挑战性的。在本文中，我们提出了一种新的控制器，分数阶导纳控制器，pHRI系统。新的控制系统的稳定性分析与人类在回路中进行的互动性能的实验研究与10名受试者在一个任务期间模仿与一个僵硬的环境接触。结果表明，分数阶控制器比标准导纳控制器具有更强的鲁棒性，并有助于减少任务执行中的人为努力。
In physical human-robot interaction (pHRI), the cognitive skill of a human is combined with the accuracy, repeatability and strength of a robot. While the promises and potential outcomes of pHRI are glamorous, the control of such coupled systems is challenging in many aspects. In this paper, we propose a new controller, fractional order admittance controller, for pHRI systems. The stability analysis of the new control system with human in-the-loop is performed and the interaction performance is investigated experimentally with 10 subjects during a task imitating a contact with a stiff environment. The results show that the fractional order controller is more robust than the standard admittance controller and helps to reduce the human effort in task execution.