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Adaptive admittance tracking control for interactive robot with prescribed performance

Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui LIN Yan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

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Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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Science China(Technological Sciences) 2024年第3期67卷 823-834页

作者： KOU JianGe WANG YiXuan CHEN ZhenLei SHI Yan GUO Qing XU Meng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China Department of Musculoskeletal Tumor Senior Department of Orthopedicsthe Fourth Medical Centerof PLA GeneralHospitalBeijing 100853China

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

关键词： human-robot interaction exoskeleton backstepping admittance control

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Adaptive Human-Robot Collaboration control Based on Optimal admittance Parameters

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 589-601页

作者：禹鑫燚吴加鑫许成军罗惠珍欧林林 College of Information Engineering Zhejiang University of TechnologyHangzhou310023China

In order to help the operator perform the human-robot collaboration task and optimize the task performance,an adaptive control method based on optimal admittance parameters is *** overall control structure with the inner loop and outer loop is first *** tasks of the inner loop and outer loop are robot control and task optimization,*** inner-loop robot controller integrated with barrier Lyapunov function and radial basis function neural networks is then proposed,which makes the robot with unknown dynamics securely behave like a prescribed robot admittance model sensed by the ***,the optimal parameters of the robot admittance model are obtained in the outer loop to minimize the task tracking error and interaction *** optimization problem of the robot admittance model is transformed into a linear quadratic regulator problem by constructing the human-robot collaboration system *** model includes the unknown dynamics of the operator and the task performance *** relax the requirement of the system model,the integral reinforcement learning is employed to solve the linear quadratic regulator ***,an auxiliary force is designed to help the operator complete the specific task *** with the traditional control scheme,the security performance and interaction performance of the human-robot collaboration system are *** effectiveness of the proposed method is verified through two numerical *** addition,a practical human-robot collaboration experiment is carried out to demonstrate the performance of the proposed method.

关键词： human-robot collaboration admittance control barrier Lyapunov function linear quadratic regulator integral reinforcement learning

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Task-space Whole-body control with Variable Contact Force control for Position-controlled Humanoid Adaptation to Unknown Disturbance

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Journal of Bionic Engineering 2023年第5期20卷 2069-2087页

作者： Zelin Huang Chencheng Dong Zhangguo Yu Xuechao Chen Fei Meng Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical ***,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining *** this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown *** task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the *** variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot *** and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.

关键词： Whole-body control Contact force admittance control Humanoid robot

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Research on Robot Teaching for Complex Task

Research on Robot Teaching for Complex Task

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第三十九届中国控制会议

作者： Lingtao Huang JinSong Yang Shui Ni Bin Wang Hongyan Zhang School of Mechanical Science and Engineering Jilin University Management Committee of National Science Park China University of Petroleum

As the traditional teaching technology can not meet the requirements of complex teaching tasks, this paper studies the direct teaching technology of robots based on the force sensor’s gravity compensation and admittance control. Through the gravity compensation of the force sensor, the influence of the gravity of the robot end tool, the installation tilt angle of the robot base and the zero point of the force sensor on the force sensor is reduced, and the teaching accuracy is improved. Using the admittance control principle, the robot can move according to the traction of the teaching staff, and regularly record the teaching points in the process to form the teaching trajectory. Finally, a direct teaching system was established, and the proposed gravity compensation algorithm and direct teaching algorithm were experimentally verified. The experimental results show that the proposed gravity compensation algorithm can achieve better compensation effect. The direct teaching algorithm based on admittance control can simplify the teaching process and complete complex teaching tasks.

关键词： Robot Six-dimensional force sensor Gravity compensation admittance control Direct teaching

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