Human-Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

作     者：Xingwei Zhao Yiming Chen Lu Qian Bo Tao Han Ding Xingwei Zhao;Yiming Chen;Lu Qian;Bo Tao;Han Ding

作者机构：State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China 

出 版 物：《Engineering》 (工程（英文）)

年 卷 期：2023年第30卷第11期

页      面：83-92页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported in part by the National Natural Science Foundation of China(62293514 52275020 and 91948301) 

主　　题：Human-robot collaboration Impedance control Robotic assembly 

摘      要：Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and *** HRC framework for robotic assembly based on impedance control is proposed in this *** the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides *** robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control *** reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are *** the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference *** show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.