{"title":"A physical Human Robot Interaction architecture for flexible joint robots","authors":"Abdelrahem Atawnih, Z. Doulgeri, G. Rovithakis","doi":"10.1109/MED.2014.6961582","DOIUrl":null,"url":null,"abstract":"In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"22nd Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2014.6961582","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.
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