Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction
Vincent Duchaine* and Clément Gosselin**
*Department of Automated Manufacturing Engineering, École de Technologie Supérieure, 1100 Rue, Notre-Dame Ouest, Montreal, H3C 1K3, Canada
**Department of Mechanical Engineering, Université Laval, 1065 Avenue de la médecine, Québec, Qc, G1V 0A6, Canada
While the majority of industrial manipulators currently in use only need to performautonomousmotion, future generations of cooperative robots will also have to execute cooperative motion and intelligently react to contacts. These extended behaviours are essential to enable safe and effective physical Human-Robot Interaction (pHRI). However, they will inevitably result in an increase of the controller complexity. This paper presents a single variable admittance control scheme that handles the three modes of operation, thereby minimizing the complexity of the controller. First, the adaptative admittance controller previously proposed by the authors for cooperative motion is recalled. Then, a novel implementation of variable admittance control for the generation of smooth autonomous motion including reaction to collisions anywhere on the robot is presented. Finally, it is shown how the control equations for these three modes of operation can be simply unified into a unique control scheme.
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