A Robust Region Control Approach for Simultaneous Trajectory Tracking and Compliant Physical Human–Robot Interaction

For the safe and smooth robot-assisted healthcare task execution, real-time motion tracking controls compliant physical human–robot interactions are concurrently important control objectives. In this work, uncertainty disturbance estimator (UDE)-based robust region controller for a robot manipulator is developed. The regional feedback error derived from potential function to drive end-effector converging into target region, where interaction can be achieved. Utilizing back-stepping approach, seamlessly integrated UDE-based framework, UDE employed estimate compensate model uncertainties such that only minimum information needed implementation. Lyapunov method used analyze stability of closed-loop system. Extensive experimental studies including trajectory tracking, benchmark comparison carried out effectiveness validation.