A time-domain vibration observer and controller for physical human-robot interaction

作者：Campeau Lecours Alexandre^*; Otis Martin; Belzile Pierre Luc; Gosselin Clement

来源：Mechatronics, 2016, 36: 45-53.

DOI：10.1016/j.mechatronics.2016.04.006

• Physical human-robot interaction
• Vibration reduction
• Admittance control
• Intelligent assist device
• Vibration control
• Robotics

This paper presents a time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating vibrations that may occur in stiff interactions. The vibration observer algorithm first detects minima and maxima of a given signal with robustness in regards to noise. Based on these extrema, a vibration index is computed and then used by an adaptive controller to adjust the control gains in order to reduce vibrations. The controller is activated only when the amplitude of the vibrations exceeds a given threshold and thus it does not influence the performance in normal operation. Also, the observer does not require a model and can analyze a wide time frame with only a few computations. Finally, the algorithm is implemented on two different prototypes that use an admittance controller.

• 出版日期2016-6