A Position and Torque Switching Control Method for Robot Collision Safety
文献类型：期刊论文
| 作者 | Zhi-Jing Li2; Hai-Bin Wu2; Jian-Ming Yang1; Ming-Hao Wang2; Jin-Hua Ye2 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2018 |
| 卷号 | 15期号:2页码:156-168 |
| 关键词 | Human-robot interaction position control torque control switching control robot collision safety. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-017-1104-9 |
| 英文摘要 | With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching control method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switching control method includes two modes, the position control mode using a proportion-integral (PI) algorithm, and the torque control mode using sliding mode control (SMC) algorithm for eliminating swing. Under the normal condition, the robot works in position control mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to position control mode automatically. Moreover, for a better performance, the joint torque is detected from direct-current (DC) motor′s current rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42399]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Department of Mechanical System, Meijo University, Nagoya 468-8052, Japan 2.School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China |
| 推荐引用方式 GB/T 7714 | Zhi-Jing Li,Hai-Bin Wu,Jian-Ming Yang,et al. A Position and Torque Switching Control Method for Robot Collision Safety[J]. International Journal of Automation and Computing,2018,15(2):156-168. |
| APA | Zhi-Jing Li,Hai-Bin Wu,Jian-Ming Yang,Ming-Hao Wang,&Jin-Hua Ye.(2018).A Position and Torque Switching Control Method for Robot Collision Safety.International Journal of Automation and Computing,15(2),156-168. |
| MLA | Zhi-Jing Li,et al."A Position and Torque Switching Control Method for Robot Collision Safety".International Journal of Automation and Computing 15.2(2018):156-168. |
入库方式： OAI收割
来源：自动化研究所
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