让冗余机器人在未知环境中自适应协作，兼顾任务执行与安全交互

Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical performance, and will likely revolutionize the daily lives of everyone in the future. Being able to enhance the performance of both sides, such that human-robot collaboration outperforms a single robot/human, remains an open issue. For safer and more effective collaboration, a new control scheme has been proposed for redundant robots in this paper, consisting of an adaptive vision-based control term in task space and an interactive control term in null space. Such a formulation allows the robot to autonomously carry out tasks in an unknown environment without prior calibration while also interacting with humans to deal with unforeseen changes (e.g., potential collision, temporary needs) under the redundant configuration. The decoupling between task space and null space helps to explore the collaboration safely and effectively without affecting the main task of the robot end-effector. The stability of the closed-loop system has been rigorously proved with Lyapunov methods, and both the convergence of the position error in task space and that of the damping model in null space are guaranteed. The experimental results of a robot manipulator guided with the technology of augmented reality (AR) are presented to illustrate the performance of the control scheme.