Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

3rd International Conference on Advances in Energy, Environment and Chemical Engineering

能源学;生态环境科学;化学工业

Mao, Dachao^1 ; Yang, Wenlong^1 ; Du, Zhijiang^1

State Key Laboratory of Robotics and Systems, Harbin Institute of Technology Harbin, Heilongjiang

150080, China^1

关键词: Drag interaction;    Fuzzy inference systems;    Fuzzy variable;    Human arm;    Human-robot cooperation;    Impedance parameters;    Stiffness identification;    Variable impedance control;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/69/1/012090/pdf
DOI  :  10.1088/1755-1315/69/1/012090

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm's stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.