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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Frequency-Shaped Impedance Control for Safe Human–Robot Interaction in Reference Tracking Application
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Frequency-Shaped Impedance Control for Safe Human–Robot Interaction in Reference Tracking Application

机译：频率形阻抗控制可确保参考跟踪应用中人机交互的安全

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摘要

In the control of industrial robots, both safety and reference tracking performance are required. For safe human-robot interaction, robots should exhibit low mechanical (or controlled) impedance so that they react to the interaction forces in a compliant manner. On the other hand, the reference tracking requires for the robots to reject exogenous disturbances, which results in an increased impedance. In order to achieve these two conflicting objectives, a frequency-shaped impedance control (FSIC) method is proposed in this paper. The proposed method utilizes the two different functionalities of the disturbance observer (DOB): a disturbance estimation function as an observer and a disturbance rejection function as a feedback controller. Namely, the DOB is utilized as an observer at the frequencies where the robots interact with humans, while it is used as a feedback controller (i.e., disturbance rejection controller) at the frequencies where the reference tracking is required. The proposed approach is realized by shaping a filter of the DOB in the frequency domain so that the impedance is manipulated to achieve both the compliant interaction and reference tracking. The compromised reference tracking performance in the frequency range, where the impedance is set low, can also be supplemented by feedforward control. A typical feedback controller and a feedforward controller are designed in addition to the DOB-controlled system as the whole control system to enhance reference tracking performance and the betterment of stability robustness. The proposed method is verified by experimental results in this paper.
机译：在工业机器人的控制中，既需要安全又需要参考跟踪性能。为了安全地进行人机交互，机器人应表现出较低的机械（或受控）阻抗，以便它们以顺应性的方式对相互作用力做出反应。另一方面，参考跟踪要求机器人拒绝外部干扰，这会导致阻抗增加。为了实现这两个矛盾的目标，本文提出了一种频率形阻抗控制（FSIC）方法。所提出的方法利用了干扰观测器（DOB）的两种不同功能：作为观测器的干扰估计功能和作为反馈控制器的干扰抑制功能。即，DOB在机器人与人互动的频率处被用作观察者，而在需要参考跟踪的频率处被用作反馈控制器（即，干扰抑制控制器）。所提出的方法是通过在频域中对DOB滤波器进行整形来实现的，从而可以控制阻抗以实现顺应性交互和参考跟踪。还可以通过前馈控制来补充阻抗设置较低的频率范围内受损的参考跟踪性能。除了DOB控制系统之外，还设计了一种典型的反馈控制器和前馈控制器作为整个控制系统，以增强参考跟踪性能并改善稳定性。实验结果验证了该方法的有效性。

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