A Dynamic Behavior Control Framework for Physical Human-Robot Interaction

Abstract

The problem of dynamic behavior control for human-robot collaborative system is studied in this paper. A general dynamic behavior control framework is presented, based on which the interaction control strategies for single-point human-robot collaboration and multi-point human-robot interaction are studied. Through typical human-robot collaborative operation scenarios, the causes of role conflicts under different human-robot collaboration control strategies are analyzed, and the collaborative control algorithm integrating the active motion imitation and passive motion following is presented to reduce the conflicts during the human-robot collaboration process. For multi-point human-robot interaction, the interaction problems are classified and the interaction control strategies for single-task and multi-task scenarios are designed, both in the Cartesian space and the joint space. For multi-task interaction, a smooth task transition strategy from the collaboration control to the safety control is presented to improve the security during the task switching process. Experimental studies verify the effectiveness of the presented method.