Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction
Wulin Zou,Pu Duan,Yawen Chen,Ningbo Yu,Ling Shi,Wulin Zou,Pu Duan,Yawen Chen,Ningbo Yu,Ling Shi
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and pas...
