Paper Info
Title
Weighted Hybrid Admittance-Impedance Control With Human Intention Based Stiffness Estimation For Human-Robot Interaction
Abstract
In a human-robot interaction (HRI) device that performs physical collaboration operations in constant contact with the user, admittance control and impedance control are generally used. Since the two controllers exhibit opposite performances depending on the stiffness condition, controllers capable of dealing with various magnitudes of stiffness are required. As such, this study proposes hybrid control that adjusts the control distribution ratios of admittance control and impedance control based on the operating frequency analysis to react to the user intention and various stiffness conditions in real time. The proposed controller algorithm exhibited lower overshoot than impedance control in the step input response simulation, faster response speed compared to admittance control in the response simulation for 0-5 Hz input frequencies, and the smallest vibration magnitude and number of vibrations in the case of a virtual wall collision, resulting in improved performance compared to existing control methods.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594435
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Control theory,Computer science,Control theory,Stiffness,Overshoot (signal),Collision,Control engineering,Electrical impedance,Impedance control,Vibration,Admittance
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Hyomin Kim101.01
Jaesung Kwon2101.60
Yong-Hwan Oh317531.08
Bum-Jae You440252.66
Woosung Yang501.69