A Review of Compliant Control for Collaborative Robots

摘要

Collaborative robots that can directly interact with humans have become a new trend in the robotics field. To achieve safe and friendly human-robot interaction, the compliant control of collaborative robots is extremely important, especially the compliant control of each joint. Also, the number of publications has increased yearly. In this article, we summarize the compliant control methods that have been proposed and applied in the robot system and classify compliant control methods into three categories: force-based which needs to know the joint torque/force and limited by the performance of force controller; model-based which can achieve high control accuracy but limited by the model accurate; external force-based which can increase the transparency but needs to know the external force. Then we propose possible future research directions.