高技术通讯2025，Vol.35Issue(2)：205-213,9.DOI:10.3772/j.issn.1002-0470.2025.02.010
基于稳定观测器的协作机器人变导纳控制方法
Stable observer-based variable admittance control method for collaborative robots
摘要
Abstract
When a robot interacts with an environment or a person,the robot is prone to unstable jitter when the stiffness of the interaction object,i.e.,the environment or the person,increases suddenly,which can be harmful to the ro-bot and the environment or the person.To address this problem,this paper designs a stability observer and a relat-ed control algorithm for restoring stability based on the difference in frequency of the force signal during stable drag-ging by the operator and unstable jitter of the robot,and the drastic change in the amplitude of the interaction force.The experimental results show that the proposed method effectively ameliorates the misjudgment problem caused by Butterworth's high and low-pass filter overruns and delays and ensures the safety and smoothness of hu-man-robot interaction.关键词
协作机器人/稳定观测器/导纳控制/人机交互Key words
collaborative robot/stabilization observer/admittance control/human-robot interaction引用本文复制引用
汪龙祥,李研彪,孙鹏,陈庆盈..基于稳定观测器的协作机器人变导纳控制方法[J].高技术通讯,2025,35(2):205-213,9.基金项目
国家重点研发计划(2019YFB1309900),国家自然科学基金(U21A20122,92048201),中国科学院国际合作局国际伙伴计划(174433KYSB20190036)和浙江省"领雁"攻关计划项目(2022C01101)资助. （2019YFB1309900）
