A time-domain vibration observer and controller for physical human-robot interaction
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- 作者：Alexandre Campeau-Lecours ; a ; alexandre.campeau-lecours@gmc.ulaval.ca" class="auth_mail" title="E-mail the corresponding author ; Martin Otisb ; martin_otis@uqac.ca" class="auth_mail" title="E-mail the corresponding author ; Pierre-Luc Belzilea ; Clé ; ment Gosselina ; clement.gosselin@gmc.ulaval.ca" class="auth_mail" title="E-mail the corresponding author
- 关键词：Physical human-robot interaction ; Vibration reduction ; Admittance control ; Intelligent assist device ; Vibration control ; Robotics
- 刊名：Mechatronics
- 出版年：2016
- 出版时间：June 2016
- 年：2016
- 卷：36
- 期：Complete
- 页码：45-53
- 全文大小：1719 K
文摘
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We propose a non-linear algorithm for measuring and eliminating vibrations coming from direct human-robot physical interaction.
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We detect a signal’s minima and maxima with robustness in regards to noise.
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We define a vibration index based on these extrema.
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Based on this vibration index, we propose adaptive control strategies in order to reduce or eliminate the vibrations.
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We implement the algorithm on two different prototypes in order to demonstrate its performance.