Safe Reaction of a Robot Arm with Torque Sensing Ability on the External Disturbance and Impact: Implementation of a New Variable Impedance Control

The paper focuses on control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The algorithm of impact control imparting reflex action ability to the robot arm was proposed. The experimental results showed successful recognition and realization of three different types of interaction: service task, co-operative task, and impact state.