Variable Admittance Control of Robot Manipulators Based on Human Intention

This paper presents a variable admittance control method to achieve intuitive human–robot interactions that consider human intentions. Human intention is classified into two categories—direct and indirect. With respect to direct intention, the concept of standard force is introduced to adjust the interacting force. The proposed variable admittance control method improves intuitiveness when velocity is used as an estimate of direct intention. In the estimation of indirect intention, a force guidance method is suggested to make a robot follow and guide a human. The proposed control methodology is adapted to a six-DOF manipulator based on a one-dimensional analysis. The experiments are conducted with a manipulator (Universal Robots, UR10) and a force/torque sensor (Robotus, RFT60-HA) to evaluate the performance. The experiments validate that variable admittance control enhances the execution time, accuracy, and comfort of the operator.

[1]  Clément Gosselin,et al.  Variable admittance control of a four-degree-of-freedom intelligent assist device , 2012, 2012 IEEE International Conference on Robotics and Automation.

[2]  Bruno Siciliano,et al.  Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction , 2015, IEEE Transactions on Robotics.

[3]  Blake Hannaford,et al.  Using Kinect and a Haptic Interface for Implementation of Real-Time Virtual Fixture , 2011 .

[4]  Allison M. Okamura,et al.  Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures With Variable Admittance , 2004, Hum. Factors.

[5]  Clément Gosselin,et al.  Modeling of physical human–robot interaction , 2016 .

[6]  Brenan J. McCarragher,et al.  Human integration into robot control utilising potential fields , 1997, Proceedings of International Conference on Robotics and Automation.

[7]  Wayne J. Book,et al.  Force reflecting teleoperation with adaptive impedance control , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[8]  Grafakos Stavros,et al.  Variable admittance control in pHRI using EMG-based arm muscles co-activation , 2016 .

[9]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[10]  James M. Lucas,et al.  Exponentially weighted moving average control schemes: Properties and enhancements , 1990 .

[11]  Ryojun Ikeura,et al.  Cooperative motion control of a robot and a human , 1994, Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication.

[12]  Neville Hogan,et al.  An analysis of contact instability in terms of passive physical equivalents , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[13]  Martin Buss,et al.  A Survey of Environment-, Operator-, and Task-adapted Controllers for Teleoperation Systems , 2010 .

[14]  Neville Hogan,et al.  Robust control of dynamically interacting systems , 1988 .

[15]  Riccardo Muradore,et al.  A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots , 2016, IEEE/ASME Transactions on Mechatronics.

[16]  Shuzhi Sam Ge,et al.  Human–Robot Collaboration Based on Motion Intention Estimation , 2014, IEEE/ASME Transactions on Mechatronics.

[17]  Clément Gosselin,et al.  Investigation of human-robot interaction stability using Lyapunov theory , 2008, 2008 IEEE International Conference on Robotics and Automation.

[18]  Toru Tsumugiwa,et al.  Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System , 2007 .

[19]  Martin Buss,et al.  An HMM approach to realistic haptic human-robot interaction , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[20]  Tamio Arai,et al.  Human-robot cooperative manipulation with motion estimation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[21]  Ryojun Ikeura,et al.  Investigating the impedance characteristic of human arm for development of robots to co-operate with human operators , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[22]  Nikos A. Aspragathos,et al.  Reinforcement learning of variable admittance control for human-robot co-manipulation , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[23]  Allison M. Okamura,et al.  Haptic Virtual Fixtures for Robot-Assisted Manipulation , 2005, ISRR.

[24]  Nikos A. Aspragathos,et al.  Fuzzy learning variable admittance control for human-robot cooperation , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.