论文标题
一种基于空空间的方法，用于安全有效的人类机器人协作
A Null-space based Approach for a Safe and Effective Human-Robot Collaboration
论文作者
论文摘要
在人体机器人协作期间，重要的是要实现时变的互动行为，同时确保稳定的稳定性。可以利用公认控制和消极理论来实现这些目标。然而，当入学动态变化时，可能会发生，为了确保被动稳定的行为，必须在入学动态中引入一些虚假的耗散效应。这些效果被用户感知并降低协作性能。在本文中，我们利用操纵器的任务冗余，以便在无效空间中收获能量，并避免在入场费上进行虚假的动态。拟议的体系结构通过模拟和对协作机器人的实验来验证。
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these objectives. Nevertheless, when the admittance dynamics is time-varying, it can happen that, for ensuring a passive and stable behaviour, some spurious dissipative effects have to be introduced in the admittance dynamics. These effects are perceived by the user and degrade the collaborative performance. In this paper we exploit the task redundancy of the manipulator in order to harvest energy in the null space and to avoid spurious dynamics on the admittance. The proposed architecture is validated by simulations and by experiments onto a collaborative robot.
