In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is crucial, since they affect both the stability and the ability of the robot to interact with the user. In this paper, we present a strategy for detecting deviations from the nominal behavior of an admittance-controlled robot and for adapting the parameters of the controller while guaranteeing the passivity. The proposed methodology is validated on a KUKA LWR 4+.

Admittance control parameter adaptation for physical human-robot interaction / Landi, Chiara Talignani; Ferraguti, Federica; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - (2017), pp. 2911-2916. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017 [10.1109/ICRA.2017.7989338].

I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Powered by IRIS-about IRIS-Utilizzo dei cookie

 Copyright © 2022