Abstract: To improve the stability and comfort of human-robot coordination movement in the process of human-robot cooperation,a method of admittance control with variable damping was proposed.By considering the uncertainty of operator's movement information and the variable of the operator's arm impedance parameters,a method was put forward which recognized the operator's movement intention according to the size of human-robot interaction force,and then changed the virtual damping parameter value of the control system to response human movement quickly.The parameter range of admittance control with variable damping was worked out by experiments,and a basis for the theoretical research of man-robot coordinated movement was provided.Experiments results showed that coordinated and compliant man-robot coordination movement could be achieved with the proposed control method,and the stability and comfort of the system were improved.

Key words: human-robot cooperation, human-robot coordination movement, admittance control, variable damping, human-robot interaction force

摘要： 为了改善人机协作过程中人机协调运动的稳定性与舒适性,提出一种可变阻尼导纳控制方法。针对操作者运动信息不确定和操作者手臂阻抗参数可变等特点,提出依据人机交互力的大小识别操作者的运动意图,进而改变控制系统虚拟阻尼参数值的方法,以实现对人体运动的快速响应。应用实验的方法确定了可变阻尼导纳控制方法的参数范围,为人机协调运动的理论研究提供了基础。实验证明,所提控制方法能够实现协调、柔顺的人机协调运动,提高了系统的稳定性和舒适性。

关键词: 人机协作, 人机协调运动, 导纳控制, 变阻尼, 人机交互力