Safe Human Robot Inter action using Model Matching Control
Other Title
人機安全互動利用模型匹配控制
Journal
Journal of Chinese Society of Mechanical Engineers
Journal Volume
37
Journal Issue
6
Start Page
587
End Page
596
ISSN
0257-9731
Date Issued
2016-12
Author(s)
Abstract
Most of industrial robot arms in factory will reduce their speeds for guaranteeing human safety when human goes into the robots' working areas. But decreasing the robot speed will reduce production efficiency. To deal with this problem, this paper proposes an approach to satisfy safe human robot interaction while keeping the robot operation speed. The proposed model matching control (MMC) with danger index is used to not only change the robot stiffness but also avoid human injury to achieve safe human robot interaction (sHRI). The danger index (DI) based on the relative velocity and distance between human and the robot is developed to generate stiffness command so that human safety can be ensured even there is collision with the robot. Bond graph is adopted to model the active-passive variable stiffness elastic actuator (APVSEA) and design MMC controller. Experimental results show the proposed approach can achieve safe human robot interaction even under collision. © 2016, Chinese Mechanical Engineering Society. All right reserved.
Subjects
Bond Graph; Model Matching Control; Safe Human Robot Interaction
SDGs
Other Subjects
Accident prevention; Graph theory; Man machine systems; Multivariable systems; Robots; Stiffness; Bond graph; Elastic actuators; Industrial robot arms; Model matching control; Production efficiency; Relative velocity; Safe human-robot interaction; Variable stiffness; Human robot interaction
Type
journal article