Abstract
This paper presents a variable admittance control (VAC) method of human-robot collaboration (HRC) based on human body impedance. In HRC, when the stiffness of a person’s arm increases, the control based on fixed admittance parameters become unusable. VAC is proposed, which makes the damping coefficient in the robot admittance parameters determined by the stiffness of the end of the human arm and the system’s stability. The damping parameters are changed according to the speed of the end of the robot, so that the HRC is easy to complete.
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Acknowledgment
This work was supported by grant: No. 2019YFB1309900, No. 92048201, No. 2019C01043, No. 51805523, No. 174433KYSB20190036, No. 2021C01067, No. U20A20282, No. 2018B10058.
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Duan, R., Wang, C., Chen, CY., Yang, G., Chen, L. (2021). Variable Admittance Control by Measuring Arm Impedance. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_45
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DOI: https://doi.org/10.1007/978-3-030-89098-8_45
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