论文标题
可变刚度控制具有严格的频域约束，用于物理人类机器人相互作用
Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction
论文作者
论文摘要
可变阻抗控制对于物理人类机器人相互作用是有利的，可以提高安全性，适应性和许多其他方面。本文在严格的频域约束下介绍了增益制定的可变刚度控制方法。 Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and passivity requirements into their specific frequency bands.由于交互式机器人的频率特性受限，这种放松是有道理的。其次，采用增益制定的方法来调节控制器相对于所需的刚度。第三，调度函数通过非滑动优化方法进行参数化。最后，通过模拟，实验和基于增益基于被动性的PID方法的模拟，实验和比较来验证所提出的方法。
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and passivity requirements into their specific frequency bands. This relaxation makes sense because of the restricted frequency properties of the interactive robots. Secondly, a gain-scheduled method is taken to regulate the controller gains with respect to the desired stiffness. Thirdly, the scheduling function is parameterized via a nonsmooth optimization method. Finally, the proposed approach is validated by simulations, experiments and comparisons with a gain-fixed passivity-based PID method.
