Admittance control for physical human–robot interaction

Journal article (2018)

Authors

Arvid Q.L. Keemink University of Twente
H. van der Kooij University of Twente, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Arno H A Stienen University of Twente, Northwestern University
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Robotics Haptics Passivity Admittance control PHRI
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Published Date

2018

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

This paper presents an overview of admittance control as a method of physical interaction control between machines and humans. We present an admittance controller framework and elaborate control scheme that can be used for controller design and development. Within this framework, we analyze the influence of feed-forward control, post-sensor inertia compensation, force signal filtering, additional phase lead on the motion reference, internal robot flexibility, which also relates to series elastic control, motion loop bandwidth, and the addition of virtual damping on the stability, passivity, and performance of minimal inertia rendering admittance control. We present seven design guidelines for achieving high-performance admittance controlled devices that can render low inertia, while aspiring coupled stability and proper disturbance rejection.