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

本文介绍了在人机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。所提出的接口为人类操作员提供了一种由阻抗控制（导纳控制）和固有动力学交互组成的混合控制模式。该控制系统将两种控制策略结合为一种混合控制策略。为了验证所提出系统的性能，进行了一个涉及人类操作员的动态交互实验。实验结果表明，该系统对人机协作交互中机器人的运动控制是有效的。

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.