A Review of Compliant Control for Collaborative Robots
文献类型：会议论文
| 作者 | Zhang, Tuopu; Du, Qinghao; Yang, Guilin; Chen, Chin-yin; Wang, Chongchong; Fang, Zaojun |
| 出版日期 | 2021 |
| 会议日期 | AUG 01-04, 2021 |
| 关键词 | FLEXIBLE-JOINT ROBOTS IMPEDANCE CONTROL FORCE CONTROL |
| DOI | 10.1109/ICIEA51954.2021.9516193 |
| 英文摘要 | Collaborative robots that can directly interact with humans have become a new trend in the robotics field. To achieve safe and friendly human-robot interaction, the compliant control of collaborative robots is extremely important, especially the pliant control of each joint. Also, the n tier of puhlicat' has increased yearly. In this article, we summarize the c pliant control methods that have been proposed and applied in the robot system and classify c pliant control methods into three categories: force-based which needs to know the joint torque/force and limited by the perl'ormance of force controller; model-based which can achieve high control accuracy but limited by the model accurate; external force-based which can increase the transparency but needs to know the external force. Then we propose possible future research directions. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-6654-2248-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23257]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Zhang, Tuopu,Du, Qinghao,Yang, Guilin,et al. A Review of Compliant Control for Collaborative Robots[C]. 见:. AUG 01-04, 2021. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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