Variable Dynamic Range Control Based on Object Inherent Dynamics in Human-Robot Cooperative Interaction System

本文介绍了一种在人-机器人动态交互中稳定机器人运动控制系统的机械人机界面的开发。所提出的界面为操作员提供了由阻抗控制(导纳控制)和固有动力学交互作用组成的混合控制模式。该控制系统将两种控制策略组合成单一的混合控制策略。为了验证所提出的系统的性能，进行了涉及操作员的动态交互实验。实验结果表明，该系统能有效地控制人-机器人协同交互中的机器人运动。

This paper presents development of a mechanical man-machine interface to stabilize robot motion control system in a human-robot dynamic interaction. The proposed interface provides a human operator with a hybrid control mode which is composed of an impedance control(an admittance control) and an inherent dynamics interaction. The control system combines the two control strategies into a single hybrid control strategy. To confirm the performance of the proposed system, a dynamic interaction experiment involving a human operator is carried out. Experimental results show that the proposed system is effective for controlling the motion of the robot in the human-robot cooperative interaction.