A time-domain vibration observer and controller for physical human-robot interaction

摘要

This paper presents a time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating vibrations that may occur in stiff interactions. The vibration observer algorithm first detects minima and maxima of a given signal with robustness in regards to noise. Based on these extrema, a vibration index is computed and then used by an adaptive controller to adjust the control gains in order to reduce vibrations. The controller is activated only when the amplitude of the vibrations exceeds a given threshold and thus it does not influence the performance in normal operation. Also, the observer does not require a model and can analyze a wide time frame with only a few computations. Finally, the algorithm is implemented on two different prototypes that use an admittance controller. (C) 2016 Elsevier Ltd. All rights reserved.