Title :
A physical Human Robot Interaction architecture for flexible joint robots
Author :
Atawnih, Abdelrahem ; Doulgeri, Zoe ; Rovithakis, George A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
Abstract :
In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.
Keywords :
control system synthesis; human-robot interaction; position control; flexible joint robots; pHRI architecture; physical human robot interaction architecture; position reference shaping signal; robust position tracking; Dynamics; Elasticity; Force; Impedance; Joints; Robot sensing systems;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961582
