10.1109/TRO.2020.2969018
https://zenodo.org/records/5720490
oai:zenodo.org:5720490
Papageorgiou, Dimitrios
Dimitrios
Papageorgiou
0000-0003-0361-8757
Aristotle University of Thessaloniki
Kastritsi, Theodora
Theodora
Kastritsi
0000-0002-5379-0259
Aristotle University of Thessaloniki
Doulgeri, Zoe
Zoe
Doulgeri
0000-0003-2188-9358
Aristotle University of Thessaloniki
Rovithakis, George A.
George A.
Rovithakis
0000-0002-1158-9178
Aristotle University of Thessaloniki
A Passive pHRI Controller for Assisting the User in Partially Known Tasks
Zenodo
2020
2020-02-12
https://zenodo.org/communities/collaborate_project
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
In this article, a passive physical human-robot interaction (pHRI) controller is proposed to enhance pHRI performance in terms of precision, cognitive load, and user effort, in cases partial knowledge of the task is available. Partial knowledge refers to a subspace of SE(3) determined by the desired task, generally mixing both position and orientation variables, and is mathematically approximated by parametric expressions. The proposed scheme, which utilizes the notion of virtual constraints and the prescribed performance control methodology, is proved to be passive with respect to the interaction force, while guaranteeing constraint satisfaction in all cases. The control scheme is experimentally validated and compared with a dissipative control scheme utilizing a KUKA LWR4+ robot in a master-slave task; experiments also include an application to a robotic assembly case.
European Commission
10.13039/501100000780
644938
Smart Assembly Robot with Advanced FUNctionalities
European Commission
10.13039/501100000780
820767
Co-production CeLL performing Human-Robot Collaborative AssEmbly