Fuzzy-Based Variable Impedance Control for Human-Robot Compliant Interaction

摘要

Human-robot interaction plays a significant role in various tasks. However, traditional controllers often face challenges in balancing dynamic characteristics and trajectory tracking tasks. To improve the flexibility of human-robot interactions dominated by manipulators, a novel approach for a variable impedance controller based on fuzzy theory is proposed for human-robot interaction. This controller dynamically adjusts impedance parameters, including stiffness and damping coefficients, according to contact force and position deviation, optimizing interaction compliance and safety. Experimental results using the UR3e manipulator validate that the proposed approach significantly improves human-robot interaction performance, ensuring more compliant and safer interactions.