Human-robot Collaboration of Parallel Robots Based on Fractional Admittance and Inverse Dynamic Robust Control
The traditional tandem robots are of limited carrying capacity and low accuracy,and the closed-loop structure of parallel robots increases the difficulty in solving dynamics and has a slow response speed.Both structures can't meet the requirements of human-robot collaboration.This paper proposes a fractional-order admittance control algorithm to address these issues to improve response performance while enabling human-robot collaboration.An inverse dynamics robust control algorithm is also designed to ensure robustness against unknown interaction forces.The proposed control algorithm is applied to a classical Stewart parallel platform,and its response and tracking performance are evaluated through experiments.The results show that the described method resulted in an average 51.16％increase in the response speed of the Stewart parallel platform to unknown interaction forces in the Z-axis translational degree of freedom,where the loading task is heaviest,as well as an average reduction in the peak tracking error of 50.83％.
collaborative robotparallel robotadmittance controlfractional controlrobust control
万方数据
维普
