Variable Admittance Control based on Virtual Fixtures for Human-Robot Co-Manipulation

摘要

Cobots (Collaborative robots) are increasingly employed in industrial workplaces, assisting human operators in decreasing the weight and the repetitiveness of their activities. In order to promote the acceptance of cobots, novel interaction paradigms enabling intuitive collaboration between humans and robots are needed. In this work, we propose a variable admittance control framework based on virtual fixtures, in which the damping and the stiffness of the admittance controller are on-line adjusted to increase the effectiveness of the co-manipulation task. Virtual paths are generated to support and guide the operator during collaborative task execution, providing him/her an over-responsive compliant system when the robot is far from the targets and a precise heavy tool in their proximity. The proposed approach has been compared with a fixed admittance controller in an industrial use case consisting of a human operator interacting with a Kuka LBR IIWA arm. The collected results demonstrate the effectiveness of the proposed approach.