Publication: Fractional order admittance control for physical human-robot interaction
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KU-Authors
KU Authors
Co-Authors
Tokatli, Ozan
Patoglu, Volkan
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Abstract
In physical human-robot interaction (pHRI), the cognitive skill of a human is combined with the accuracy, repeatability and strength of a robot. While the promises and potential outcomes of pHRI are glamorous, the control of such coupled systems is challenging in many aspects. In this paper, we propose a new controller, fractional order admittance controller, for pHRI systems. The stability analysis of the new control system with human in-the-loop is performed and the interaction performance is investigated experimentally with 10 subjects during a task imitating a contact with a stiff environment. The results show that the fractional order controller is more robust than the standard admittance controller and helps to reduce the human effort in task execution.
Source
Publisher
Ieee
Subject
Engineering, Electrical electronic engineering, Engineering, Mechanical engineering
Citation
Has Part
Source
2017 Ieee World Haptics Conference (Whc)