Task space human-robot interaction using angular velocity Jacobian

摘要

Usually human-robot interaction is in task space, while the robot control is in joint space. In order to transform the forces/torques from robot joints to the end effector, Jacobian is needed, which includes linear and angular velocities Jacobians. Since the joint positions are coupled, the Jacobian is very complex. In this paper, we only use orientations of the end-effector and the angular velocities Jacobian by considering human in the control loop. Since the angular velocities are decoupled, the human-robot interaction becomes very simple. We simplify normal admittance control by only using the torques of human. This simple method avoids the kinematics calculation. Real time experiments are presented with the 2-DOF pan and tilt robot and a 4-DOF robot.