DocumentCode :
3449856
Title :
A singularity-free approach for safe interaction of robot assisted rehabilitation, based on model-free impedance control
Author :
Sharifi, I. ; Doustmohammadi, A. ; Talebi, H.A.
fYear :
2013
fDate :
28-30 Dec. 2013
Firstpage :
36
Lastpage :
41
Abstract :
In this paper, using a hybrid control technique for robotic rehabilitation, a singularity-free control algorithm for the safe robot-human interaction is proposed. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper uses a model-free impedance control and hence it does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to a six-axis industrial robot arm, namely PUMA 560 and the results demonstrate the validity of the proposed control scheme.
Keywords :
Lyapunov methods; algebra; control system synthesis; human-robot interaction; industrial manipulators; manipulator kinematics; medical robotics; patient rehabilitation; stability; Lyapunov function theory; PUMA 560; hybrid control technique; hybrid controller design; kinematic singularities; max-plus algebra; model-free impedance control; robot assisted rehabilitation; robot motion; robot-human interaction; singular configuration; singularity-free control algorithm; six-axis industrial robot arm; stability; system matrix; Aerospace electronics; Impedance; Joints; Robot kinematics; Switches;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on
Conference_Location :
Tehran
Type :
conf
DOI :
10.1109/ICCIAutom.2013.6912805
Filename :
6912805
Link To Document :
بازگشت