0
Technical Briefs

Closed-Form Solution to Controller Design for Human-Robot Interaction

[+] Author and Article Information
Bakir Lacevic1

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan 20133, Italylacevic@elet.polimi.it

Paolo Rocco

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan 20133, Italyrocco@elet.polimi.it

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(2), 024501 (Feb 11, 2011) (7 pages) doi:10.1115/1.4003260 History: Received February 09, 2009; Revised September 05, 2010; Published February 11, 2011; Online February 11, 2011

This paper deals with controller design for gentle physical human-robot interaction. Two objectives are set up. The first is to establish an analytical framework in order to justify the good features of state of the art controller, recently designed by numerical search of parameter space. The second is to investigate the possibilities to improve the performance of such controller. Our method ensures “prescribed” admittance behavior of the robot, similar to natural admittance controller design but with both more realistic model of the robot and more realistic target admittance. Joining natural admittance approach with the concept of complementary stability allows reaping the benefits of both. Limited knowledge about the environment via structured uncertainty allows a very simple worst-case analysis using elementary tools such as Routh–Hurwitz stability criterion. Consequent relation within the parameters determines an allowed region in the parameter space, where the contact stability is guaranteed. Not surprisingly, on one border of this region, the system behaves exactly the same as when the state of the art controller is employed. In addition, unexpected stability regions are discovered, suggesting theoretical performance improvements.

FIGURES IN THIS ARTICLE
<>
Copyright © 2011 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Linear 1DOF robot model with structural resonance

Grahic Jump Location
Figure 2

A simple block diagram of the end point admittance

Grahic Jump Location
Figure 3

Coupled robot-environment interaction system

Grahic Jump Location
Figure 4

End point impedances for different controllers, passivity relaxed

Grahic Jump Location
Figure 5

Impedance profiles of the system with and without sensor dynamics

Grahic Jump Location
Figure 6

Block diagram of the coupled system

Grahic Jump Location
Figure 7

Position and actuator force for PI control with x=0.906

Grahic Jump Location
Figure 8

Position and actuator force for PI control with x=0.906 (inertial environment)

Grahic Jump Location
Figure 9

Position and actuator force for PI control with x=0.906 (stiff environment)

Grahic Jump Location
Figure 10

Position, contact, and actuator force for PI control with x=0.906

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In