提出一种新方法，让机器人在人机协作中更安全、更灵活地响应意外接触。
A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions
- 用改进的阻抗控制结合动态系统生成器，提升末端执行器柔顺性。
- 在7自由度机械臂上验证，交互后仍能保持任务跟踪精度。
- 适合需要高安全性和实时适应性的工业协作场景。
近年来，人机协作中机器人操作的安全性备受关注。阻抗控制是协作任务中常用的方法，但存在两大局限：一是末端执行器对未知物理交互的柔顺性不足；二是机器人本体无法对未知交互进行柔顺响应。本文提出一种新方法，将改进的笛卡尔阻抗控制与基于动力学系统的运动生成器结合，增强末端执行器的交互能力，同时不牺牲主任务的跟踪性能。该方法支持操作员在作业中即时更换工具，机器人可柔顺恢复任务。此外，结合新的零空间阻抗控制策略，使机器人本体在遭遇意外接触时也能实现柔顺响应，避免严重伤害，且对主任务影响极小。通过在7自由度的KUKA LWR IV+机器人上开展全面对比实验，验证了系统的无源性及有效性。
原文摘要 · Abstract (English)
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a control approach has two main limitations: 1) the end-effector (EE)'s limited compliance to adapt to unknown physical interactions, and 2) inability of the robot body to compliantly adapt to unknown physical interactions. In this work, we present an approach to address these drawbacks. We introduce a modified Cartesian impedance control method combined with a Dynamical System (DS)-based motion generator, aimed at enhancing the interaction capability of the EE without compromising main task tracking performance. This approach enables human coworkers to interact with the EE on-the-fly, e.g. tool changeover, after which the robot compliantly resumes its task. Additionally, combining with a new null space impedance control method enables the robot body to exhibit compliant behaviour in response to interactions, avoiding serious injuries from accidental contact while mitigating the impact on main task tracking performance. Finally, we prove the passivity of the system and validate the proposed approach through comprehensive comparative experiments on a 7 Degree-of-Freedom (DOF) KUKA LWR IV+ robot.
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