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：08[工学] 080202[工学-机械电子工程] 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 robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The 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 modes.To 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 discussed.In 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 fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.