Abstract
Modern robotic applications have come to include an increasing human presence in their control loops. This human presence sheds light on two instances of human interaction. First, intentional interaction developed for cobotic applications, and on the other hand, unplanned interaction in the event of a sudden collision. The handling of these interactions must be subject to the human safety restrictions denoted in the Physical Human-Robot Interaction (pHRI). The literature has presented two techniques for improving this safety factor; the first is a mechanical solution, while the second is related to control systems. In this paper, we describe a new approach that combines previous solutions. Our proposal explores a control scheme that involves the use of a virtual, adjustable stiffness component supposed to be located between the motor shaft and the robot’s link. This scheme proposes a variable impedance Actuator (VIA) control methodology based on the integration of a hypothetical (virtual) component, which has (reflect) an intrinsic Series Elastic Actuator (SEA) behaviour. By combining the mechanical operating principle with the control approach, this new method is likely to be beneficial for minimizing injuries in a human/robot interaction by reducing impact forces in collaborative applications. The proof of concept for this proposal has been simulated, validated, and implementable using a UR3 cobot of Universal Robots. This approach shows promising results in reducing significantly the peak collision forces.
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Diab, J., Fonte, A., Novales, C., Poisson, G. (2022). Virtual Adjustable Joint Stiffness Toward a Safer Human/Robot Interaction. In: Gusikhin, O., Madani, K., Zaytoon, J. (eds) Informatics in Control, Automation and Robotics. ICINCO 2020. Lecture Notes in Electrical Engineering, vol 793. Springer, Cham. https://doi.org/10.1007/978-3-030-92442-3_16
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