Method for controlling variable admittance based on human-robot collaboration state, apparatus and computer program for performing the method

摘要

The human-robot collaborative state-based variable admittance control method according to a preferred embodiment of the present invention, a device for performing the same, and a computer program are designed to control the intended and unintended actions of humans in an environment where humans and robots physically collaborate. By adjusting the admittance based on the human-robot collaboration state obtained through frequency analysis, the admittance parameter is set sensitive in the safe collaboration state and the admittance parameter is made insensitive in the unsafe collaboration state. In addition, it has high frequency resolution and can guarantee the recognition time of the human-robot collaboration state through low computational amount.