分析协作机器人力控不稳根源，提升操作透明度与安全性。
On the Analysis of Stability, Sensitivity and Transparency in Variable Admittance Control for pHRI Enhanced by Virtual Fixtures
- 考虑传动弹性等非理想因素，分析力控系统失稳原因。
- 实验验证参数敏感性，揭示关键控制变量影响。
- 自适应调整代理参数，增强人机交互透明度。
过去二十年间，得益于协同机器人在力交互中的安全保障，物理人机交互（pHRI）研究热度持续上升。尽管稳定性问题已被广泛探讨，但现有控制方案多基于理想机器人模型，忽略了实际系统中的非线性因素。本文针对代理约束阻抗控制器这一类典型pHRI控制方法，深入分析了传动弹性、电机速度饱和和驱动延迟等寄生效应导致的失稳源。通过实验支持的敏感性分析，识别出控制参数对系统稳定性的影响。最后，提出一种代理参数自适应调整技术，旨在最大化人机交互透明度。该方法在仿真与实验中均得到验证，有效提升了系统的稳定性和响应性。
原文摘要 · Abstract (English)
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user safety during force exchanges. For this reason, stability concerns have been addressed extensively in the literature while proposing new control schemes for pHRI applications. Because of the nonlinear nature of robots, stability analyses generally leverage passivity concepts. On the other hand, the proposed algorithms generally consider ideal models of robot manipulators. For this reason, the primary objective of this paper is to conduct a detailed analysis of the sources of instability for a class of pHRI control schemes, namely proxy-based constrained admittance controllers, by considering parasitic effects such as transmission elasticity, motor velocity saturation, and actuation delay. Next, a sensitivity analysis supported by experimental results is carried out, in order to identify how the control parameters affect the stability of the overall system. Finally, an adaptation technique for the proxy parameters is proposed with the goal of maximizing transparency in pHRI. The proposed adaptation method is validated through both simulations and experimental tests.
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