Application of fuzzy logic to damping controller for safe human-robot interaction

摘要

The damping controller is popularly used in human-robot interaction to adapt the desired pose of the tool center via applied wrench (force and torque) by the human. However, the experimental identification of the suitable damping gain for the dynamical relationship between applied wrench and end-effector's velocity is an open problem. In addition, although the requirements of safe human-robot standards are necessary for the controller to minimize the risk of injuries to operator, rarely do researches follow specific standards. This paper presents a damping controller based on inference mechanism of fuzzy logic which directly adjusts the end-effector's velocity through the safety requirements of ISO10218 standard (the tool velocity, power and applied forces constraints). The proposed controller is evaluated by experimental set-up of point-to-point cooperation using 6-DOF manipulator.