| 汪龙祥* **,李研彪*,孙鹏*,陈庆盈**.基于稳定观测器的协作机器人变导纳控制方法[J].高技术通讯(中文),2025,35(2):205~213 |
| 基于稳定观测器的协作机器人变导纳控制方法 |
| Stable observer-based variable admittance control method for collaborative robots |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 02. 010 |
| 中文关键词: 协作机器人； 稳定观测器； 导纳控制； 人机交互 |
| 英文关键词: collaborative robot, stabilization observer, admittance control, human robot interaction |
| 基金项目: |
| 作者 | 单位 | | 汪龙祥* ** | (*浙江工业大学机械工程学院杭州 310014)
(**中国科学院宁波材料技术与工程研究所宁波 315201) | | 李研彪* | | | 孙鹏* | | | 陈庆盈** | |
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| 中文摘要: |
| 在机器人与环境或人进行交互时，当交互对象即环境或人的刚度突然增大后，机器人容易出现不稳定抖动，这会对机器人和环境或人造成危害。针对这一问题，本文根据操作者稳定拖动和机器人不稳定抖动时力信号的频率差异以及交互力幅值变化的剧烈程度，设计了一种稳定观测器和恢复稳定的相关控制算法。实验结果表明，本文所提方法有效改善了巴特沃斯高、低通滤波器超前和延迟造成的误判问题，保证了人机交互的安全性和流畅性。 |
| 英文摘要: |
| When a robot interacts with an environment or a person, the robot is prone to unstable jitter when the stiffness of the interaction object, i.e., the environment or the person, increases suddenly, which can be harmful to the robot and the environment or the person. To address this problem, this paper designs a stability observer and a related control algorithm for restoring stability based on the difference in frequency of the force signal during stable dragging by the operator and unstable jitter of the robot, and the drastic change in the amplitude of the interaction force. The experimental results show that the proposed method effectively ameliorates the misjudgment problem caused by Butterworth’s high and low-pass filter overruns and delays and ensures the safety and smoothness of human-robot interaction. |
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