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2017 | OriginalPaper | Chapter

4. Switchings Between Trajectory Tracking and Force Minimization in Human–Robot Collaboration

Authors : Yanan Li, Keng Peng Tee, Shuzhi Sam Ge

Published in: Trends in Control and Decision-Making for Human–Robot Collaboration Systems

Publisher: Springer International Publishing

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Abstract

A framework of switchings between trajectory tracking and force minimization is proposed for human–robot collaboration through physical interactions. In particular, the robot is able to follow a predefined reference trajectory when there is no human intervention and the robot’s control objective is trajectory tracking; and the robot can be intervened by the human on the fly and moved to the human’s target position by applying an interaction force when the robot’s control objective is the minimization of the interaction force. Dynamic models of both the robot and the human are considered and their control objectives described. Switchings are realized by adaptation of the cost function. An optimal control problem is formulated to achieve the robot’s control objective, which is solved by employing dynamic programming. The validity of the proposed framework is verified through simulation studies.

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previous chapter Baxter-On-Wheels (BOW): An Assistive Mobile Manipulator for Mobility Impaired Individuals
next chapter Estimating Human Intention During a Human–Robot Cooperative Task Based on the Internal ForceInternal force Model
Appendix
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Metadata
Title
Switchings Between Trajectory Tracking and Force MinimizationForce minimization in Human–Robot CollaborationHuman-robot collaboration (HRC)
Authors
Yanan Li
Keng Peng Tee
Shuzhi Sam Ge
Copyright Year
2017
Book
Trends in Control and Decision-Making for Human–Robot Collaboration Systems

Print ISBN: 978-3-319-40532-2

Electronic ISBN: 978-3-319-40533-9

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-40533-9_4