A Position and Torque Switching Control Method for Robot Collision Safety

doi:10.1007/s11633-017-1104-9

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	A Position and Torque Switching Control Method for Robot Collision Safety
	Zhi-Jing Li 2; Hai-Bin Wu 2; Jian-Ming Yang 1; Ming-Hao Wang 2; Jin-Hua Ye 2
刊名	International Journal of Automation and Computing
	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.
内容类型	期刊论文
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.