关于通过虚拟夹具增强的变量电导控制中稳定性、灵敏度和透明度的分析
On the Analysis of Stability, Sensitivity and Transparency in Variable Admittance Control for pHRI Enhanced by Virtual Fixtures
AI总结：
本文研究了通过虚拟夹具增强的变量电导控制中稳定性、灵敏度和透明度的问题，通过分析不稳定源并提出参数适应技术以提高透明度。
摘要：
物理人机交互（pHRI）的兴趣在过去二十年中显著增加，得益于协作机器人的发展，这些机器人在力交换过程中保证了用户的安全。因此，文献中对稳定性问题进行了广泛研究，同时提出了新的pHRI应用控制方案。由于机器人的非线性特性，稳定性分析通常利用被动性概念。另一方面，所提出的算法通常考虑理想化的机器人操作机模型。因此，本文的主要目标是通过考虑寄生效应，如传动弹性、电机速度饱和和执行延迟，对一类pHRI控制方案，即基于代理的约束电导控制器，进行详细分析，以确定其不稳定性的来源。接下来，通过实验结果支持的灵敏度分析，旨在确定控制参数如何影响整个系统的稳定性。最后，提出了一种代理参数的适应技术，以最大化pHRI的透明度。所提出的适应方法通过仿真和实验测试进行验证。
英文摘要：
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user safety during force exchanges. For this reason, stability concerns have been addressed extensively in the literature while proposing new control schemes for pHRI applications. Because of the nonlinear nature of robots, stability analyses generally leverage passivity concepts. On the other hand, the proposed algorithms generally consider ideal models of robot manipulators. For this reason, the primary objective of this paper is to conduct a detailed analysis of the sources of instability for a class of pHRI control schemes, namely proxy-based constrained admittance controllers, by considering parasitic effects such as transmission elasticity, motor velocity saturation, and actuation delay. Next, a sensitivity analysis supported by experimental results is carried out, in order to identify how the control parameters affect the stability of the overall system. Finally, an adaptation technique for the proxy parameters is proposed with the goal of maximizing transparency in pHRI. The proposed adaptation method is validated through both simulations and experimental tests.
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