论文标题
安全，被动控制机械系统，并应用于物理人类机器人相互作用
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions
论文作者
论文摘要
在本文中，我们为机械系统提出了一种新颖的安全，被动和健壮的控制法。所提出的方法从物理人类机器人的互动角度解决了安全，在该角度上，机器人不仅必须留在预定义的区域内，而且还必须尊重速度约束，并确保对可能来自人类或环境产生的外部扰动的消极态度。所提出的控件以封闭形式编写，即使在单数配置期间也表现得很好，并且只要遵守安全要求（例如，速度），就可以在操作区域内应用任何名义控制法。所提出的方法是在6多机器人上实施的，以证明其在物理人类机器人交互任务中的有效性。
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a pre-defined region, but respect velocity constraints and ensure passivity with respect to external perturbations that may arise from a human or the environment. The proposed control is written in closed-form, behaves well even during singular configurations, and allows any nominal control law to be applied inside the operating region as long as the safety requirements (e.g., velocity) are adhered to. The proposed method is implemented on a 6-DOF robot to demonstrate its effectiveness during a physical human-robot interaction task.
