A decentralized robust impedance control method of modular robot manipulators with physical human robot interaction

In this paper, an impedance control approach is presented for modular robot manipulator (MRM) system with physical human robot interaction (pHRI). Based on joint torque feedback (JTF) technique, the dynamic model of the manipulator systems is described as an integration of joint subsystems associate...

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Bibliographic Details
Main Authors: Jing, Yusheng, An, Tianjiao, Wang, Tianhe, Li, Yuanchun, Dong, Bo
Format: Conference Proceeding
Language:English
Subjects:
Force
Human motion intention
Human-robot interaction
Impedance control
Modular robot manipulator
Physical human robot interaction
Radial basis function networks
Robust control
Torque
Tracking
Tracking loops
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Summary:In this paper, an impedance control approach is presented for modular robot manipulator (MRM) system with physical human robot interaction (pHRI). Based on joint torque feedback (JTF) technique, the dynamic model of the manipulator systems is described as an integration of joint subsystems associated with the effect of interconnected dynamic coupling (IDC). The radial basis function neural network (RBFNN) has been employed to cope with of unknown human limb model. A dual closed-loop control framework of impedance control and decentralized robust control is proposed to deal with the force/position control problem. Based on Lyapunov theory, the tracking error of the closed-loop robotic system is verified to be ultimately uniformly bounded (UUB). Finally, the effectiveness of the proposed method is verified by experiments.
ISSN:1948-9447
DOI:10.1109/CCDC55256.2022.10033849