The International Journal of Robotics Study, Ahead of Publish.
Physical human-robot communication (pHRI) is extensively required in lots of areas, such as commercial adjustment, home solutions, and clinical rehab, and places greater needs on the safety and security of robotics. Because of the unpredictability of the workplace, the pHRI might obtain unforeseen effect disturbance, which impacts the safety and security and level of smoothness of the job implementation. The typically utilized direct admission control (L-AC) can deal well with high-frequency small-amplitude sound, however, for medium-frequency high-intensity effect, the result is not as excellent. Motivated by the solid-liquid stage modification nature of shear-thickening liquid, we recommend a shear-thickening liquid control (SFC) that can accomplish both a very easy human-robot cooperation and resistance to effect disturbance. The SFC’s security, laziness, and stage trajectory are examined thoroughly, the regularity and time domain name residential or commercial properties are measured, and specification restrictions in distinct control and paired security problems are supplied. We performed simulations to contrast the regularity and time domain name qualities of L-AC, nonlinear admittance controller (N-AC), and SFC and verified their vibrant residential or commercial properties. In real-world experiments, we contrasted the efficiency of L-AC, N-AC, and SFC in both dealt with and mobile manipulators. L-AC displays weak resistance to effect. N-AC can withstand modest effects yet not high-intensity ones and might display self-excited oscillations. On the other hand, SFC showed exceptional effect resistance and preserved steady cooperation, improving convenience in participating water shipment jobs. In addition, a study was performed in a manufacturing facility setup, additional verifying the SFC’s capacity in promoting human-robot joint adjustment and highlighting its capacity in commercial applications.
发布者：Lu Chen，转转请注明出处：https://robotalks.cn/compliance-while-resisting-a-shear-thickening-fluid-controller-for-physical-human-robot-interaction/
