Fractional order admittance control for physical human-robot interaction

Transactions of the Institute of Measurement and Control

Başdoğan

2020

Self Cite

In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated factories. In this regard, physical human-robot interaction (pHRI) aims to develop natural communication between the partners to bring speed, flexibility, and ergonomics to the execution of complex manufacturing tasks. One challenge in pHRI is to design an optimal interaction controller to balance the limitations introduced by the contradicting nature of transparency and stability requirements. In this paper, a general methodology to design an admittance controller for a pHRI system is developed by considering the stability and transparency objectives. In our approach, collaborative robot constrains the movement of human operator to help with a pHRI task while an augmented reality (AR) interface informs the operator about its phases. To this end, dynamical characterization of the collaborative robot (LBR IIWA 7 R800, KUKA Inc.) is presented first. Then, the stability and transparency analyses for our pHRI task involving collaborative drilling with this robot are reported. A range of allowable parameters for the admittance controller is determined by superimposing the stability and transparency graphs. Finally, three different sets of parameters are selected from the allowable range and the effect of admittance controllers utilizing these parameter sets on the task performance is investigated.

Section: Introductionmentioning

confidence: 75%

Section: Contributionsmentioning

confidence: 99%

Towards collaborative drilling with a cobot using admittance controller

Transactions of the Institute of Measurement and Control

Başdoğan

2020

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“…We have proposed a fractional order admittance controller (FOAC) for pHRI systems in [5] and [19]. This control scheme relies on the fractional order calculus, which allows the use of integrators/differentiators of arbitrary orders.…”

Section: B Contributionsmentioning

confidence: 99%

A Variable-Fractional Order Admittance Controller for pHRI

2020 IEEE International Conference on Robotics and Automation (ICRA)

Çaldıran

et al. 2020

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In today's automation driven manufacturing environments, emerging technologies like cobots (collaborative robots) and augmented reality interfaces can help integrating humans into the production workflow to benefit from their adaptability and cognitive skills. In such settings, humans are expected to work with robots side by side and physically interact with them. However, the trade-off between stability and transparency is a core challenge in the presence of physical human robot interaction (pHRI). While stability is of utmost importance for safety, transparency is required for fully exploiting the precision and ability of robots in handling labor intensive tasks. In this work, we propose a new variable admittance controller based on fractional order control to handle this tradeoff more effectively. We compared the performance of fractional order variable admittance controller with a classical admittance controller with fixed parameters as a baseline and an integer order variable admittance controller during a realistic drilling task. Our comparisons indicate that the proposed controller led to a more transparent interaction compared to the other controllers without sacrificing the stability. We also demonstrate a use case for an augmented reality (AR) headset which can augment human sensory capabilities for reaching a certain drilling depth otherwise not possible without changing the role of the robot as the decision maker.

“…In particular, if the intended movement direction is detected accurately, then the cobot may be constrained to move along that direction only. For the implementation of the path following scenario discussed above, we integrate the admittance control architecture suggested in [21]- [23] with the proposed direction classifier. So, the controller enables movements along the intended directions of human arm only that are estimated using ANN, trained by EMG signals alone (see Fig.…”

Section: Approachmentioning

confidence: 99%

Detecting Human Motion Intention during pHRI Using Artificial Neural Networks Trained by EMG Signals

Ozdamar

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

et al. 2020

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With the recent advances in cobot (collaborative robot) technology, we can now work with a robot side by side in manufacturing environments. The collaboration between human and cobot can be enhanced by detecting the intentions of human to make the production more flexible and effective in future factories. In this regard, interpreting human intention and then adjusting the controller of cobot accordingly to assist human is a core challenge in physical human-robot interaction (pHRI). In this study, we propose a classifier based on Artificial Neural Networks (ANN) that predicts intended direction of human movement by utilizing electromyography (EMG) signals acquired from human arm muscles. We employ this classifier in an admittance control architecture to constrain human arm motion to the intended direction and prevent undesired movements along other directions. The proposed classifier and the control architecture have been validated through a path following task by utilizing a KUKA LBR iiwa 7 R800 cobot. The results of our experimental study with 6 participants show that the proposed architecture provides an effective assistance to human during the execution of task and reduces undesired motion errors, while not sacrificing from the task completion time.