Human-robot collaborative assembly of movable airfoils using adaptive admittance control

Purpose With the increasing requirements for intelligence in field of aviation manufacturing, manual assembly can hardly adapt to trend future production. The purpose this study is realize semi-automatic movable airfoil by proposing a human-robot collaborative strategy based on adaptive admittance control. Design/methodology/approach A logical judgment system operating intentions introduced terms different situations movements; hence, human cognition-based control method developed curb damage inertia; then virtual limit walls are raised periphery model ensure safety; finally, simulated and experimental comparisons with other methods conducted validate proposed method. Findings save at least 28.8% time stopping phase which effectively compensates inertia during process has high robustness concerning data disturbances. Originality/value Due collaboration achieve compliant airfoils preserve subjectivity while overcoming physical limits humans, great significance investigation intelligent aircraft assembly, that reflects user's naturalness intuitiveness not only enhance stability flexibility manipulation, but also contribute applications industrial robots collaboration.