This paper deals with controller design for gentle physical human-robot interaction. Two objectives are set up. The first is to establish an analytical framework in order to justify the good features of state of the art controller, recently designed by numerical search of parameter space. The second is to investigate the possibilities to improve the performance of such controller. Our method ensures “prescribed” admittance behavior of the robot, similar to natural admittance controller design but with both more realistic model of the robot and more realistic target admittance. Joining natural admittance approach with the concept of complementary stability allows reaping the benefits of both. Limited knowledge about the environment via structured uncertainty allows a very simple worst-case analysis using elementary tools such as Routh–Hurwitz stability criterion. Consequent relation within the parameters determines an allowed region in the parameter space, where the contact stability is guaranteed. Not surprisingly, on one border of this region, the system behaves exactly the same as when the state of the art controller is employed. In addition, unexpected stability regions are discovered, suggesting theoretical performance improvements.
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e-mail: lacevic@elet.polimi.it
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March 2011
Technical Briefs
Closed-Form Solution to Controller Design for Human-Robot Interaction
Bakir Lacevic,
Bakir Lacevic
Dipartimento di Elettronica e Informazione,
e-mail: lacevic@elet.polimi.it
Politecnico di Milano
, Piazza Leonardo da Vinci 32, Milan 20133, Italy
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Paolo Rocco
Paolo Rocco
Dipartimento di Elettronica e Informazione,
e-mail: rocco@elet.polimi.it
Politecnico di Milano
, Piazza Leonardo da Vinci 32, Milan 20133, Italy
Search for other works by this author on:
Bakir Lacevic
Dipartimento di Elettronica e Informazione,
Politecnico di Milano
, Piazza Leonardo da Vinci 32, Milan 20133, Italye-mail: lacevic@elet.polimi.it
Paolo Rocco
Dipartimento di Elettronica e Informazione,
Politecnico di Milano
, Piazza Leonardo da Vinci 32, Milan 20133, Italye-mail: rocco@elet.polimi.it
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 024501 (7 pages)
Published Online: February 11, 2011
Article history
Received:
February 9, 2009
Revised:
September 5, 2010
Online:
February 11, 2011
Published:
February 11, 2011
Citation
Lacevic, B., and Rocco, P. (February 11, 2011). "Closed-Form Solution to Controller Design for Human-Robot Interaction." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 024501. https://doi.org/10.1115/1.4003260
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