TY - JOUR
T1 - Trajectory Adaptation for an Impedance Controlled Cooperative Robot According to an Operator's Force
AU - Yousefizadeh, Shirin
AU - Méndez, Juan de Dios Flores
AU - Bak, Thomas
PY - 2019/7/1
Y1 - 2019/7/1
N2 - The goal of this paper is to design a controller for a cooperative robot based on a human's force that makes the robot's end-effector follow predefined motion primitives. To this aim, based on a 3D model of the robot, the kinematics and dynamics are analyzed at first. Then, an automatic online trajectory generator is designed based on the pre-defined motion primitives and the human operator intention detection. The generated trajectory serves as an input to an impedance controller. The designed impedance controller makes the robot achieve an active compliance for a safe cooperation with the human operator. The proposed controller is implemented on a robot, namely WallMoBot, which is a cooperative robot for heavy glass panels installation. Simulations of the proposed method are presented, and the results show that the method is well suited for the WallMoBot.
AB - The goal of this paper is to design a controller for a cooperative robot based on a human's force that makes the robot's end-effector follow predefined motion primitives. To this aim, based on a 3D model of the robot, the kinematics and dynamics are analyzed at first. Then, an automatic online trajectory generator is designed based on the pre-defined motion primitives and the human operator intention detection. The generated trajectory serves as an input to an impedance controller. The designed impedance controller makes the robot achieve an active compliance for a safe cooperation with the human operator. The proposed controller is implemented on a robot, namely WallMoBot, which is a cooperative robot for heavy glass panels installation. Simulations of the proposed method are presented, and the results show that the method is well suited for the WallMoBot.
KW - Construction robots
KW - Cooperative robots
KW - Impedance control
KW - Motion primitives
KW - Online trajectory generation
KW - Safe physical human-robot interaction (pHRI)
UR - http://www.scopus.com/inward/record.url?scp=85063205439&partnerID=8YFLogxK
U2 - 10.1016/j.autcon.2019.01.006
DO - 10.1016/j.autcon.2019.01.006
M3 - Journal article
AN - SCOPUS:85063205439
SN - 0926-5805
VL - 103
SP - 213
EP - 220
JO - Automation in Construction
JF - Automation in Construction
ER -