Variable admittance control system and method for coupling interaction of human, environment and robot

• Main Authors: WANG LONGXIANG, CHEN QINGYING, LI YANBIAO, SUN PENG
• Format: Patent
• Language: Chinese; English
• Published: 07.03.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a human, environment and robot coupling interaction variable admittance control system and method. The control method comprises the following steps that operating force is collected, the expected position of a robot is calculated through admittance control, and the dragging teaching function is achieved; an operator drives the robot to make contact with the environment for the first time, admittance parameters are adjusted through a stability detector to restore stability, and then the nominal environment position and the virtual environment position are calculated through an environment estimation module; when the operator interacts with the current environment again, the current position and the virtual environment position are compared, and a variable admittance strategy is selected to adjust admittance parameters so as to ensure stable and safe interaction; therefore, variable admittance control is carried out through the stability detector and the environment estimation module, an