Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification

نویسندگان

چکیده

Abstract In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation physical human–robot (pHRI). Different from traditional scheme that depends on biological signal and centralized method, implemented using only position measurements each joint module in investigation. Based harmonic drive compliance model, novel torque-sensorless estimation developed, which utilizes information local dynamic measurements. On basis, presented to achieve high performance tracking ensure security create ’safety’ environment. The uniformly ultimately bounded (UUB) error proved by Lyapunov theory. Finally, pHRI experiments confirm effectiveness advancement method.

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ژورنال

عنوان ژورنال: Complex & Intelligent Systems

سال: 2022

ISSN: ['2198-6053', '2199-4536']

DOI: https://doi.org/10.1007/s40747-022-00816-4