To control a robot performing cooperative work between a human and robot, not only the position but also the force must be controlled from the viewpoint of human–robot contact. In addition, when a robot is used for fitting and handling, tasks that are conventionally performed by experienced humans, controlling the grasping force and the force exerted by the joints can produce motions similar to those of humans and contribute to improving the success rate of the work. In the field of force control, in addition to direct force control, admittance control and impedance control are modes based on the relationship between position and force, which are known to be robust and safe. However, admittance control often becomes unstable when the robot comes into contact with a rigid body, and the performance of impedance control is degraded by friction. In this study, we aim to realize safe and accurate force control in cooperative work with humans. As a precursor, we propose admittance and impedance control, which is a series connection of conventional admittance control and impedance control. We show that the proposed force control is more robust, stable, and accurate than impedance control and admittance controls alone, or at least as good as them, when in contact with an unknown environment. Its basic effectiveness and practical usefulness are demonstrated through numerical simulations and experimental results.

中文翻译：

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串联导纳-阻抗控制器，用于力控制的更稳健和稳定的扩展

为了控制机器人在人与机器人之间进行协同工作，不仅必须从人机接触的角度控制位置，还必须控制力。此外，当机器人用于装配和搬运时，通常由经验丰富的人类完成的任务，控制抓取力和关节施加的力可以产生与人类相似的动作，有助于提高成功率。工作。在力控制领域，除了直接的力控制外，导纳控制和阻抗控制都是基于位置和力之间关系的模式，以鲁棒性和安全性着称。然而，当机器人与刚体接触时，导纳控制通常会变得不稳定，并且阻抗控制的性能会因摩擦而降低。在这项研究中，我们的目标是在与人类的合作工作中实现安全准确的力控制。作为先驱，我们提出了导纳和阻抗控制，这是传统导纳控制和阻抗控制的串联。我们表明，在与未知环境接触时，所提出的力控制比单独的阻抗控制和导纳控制更稳健、稳定和准确，或者至少与它们一样好。通过数值模拟和实验结果证明了其基本有效性和实用性。我们表明，在与未知环境接触时，所提出的力控制比单独的阻抗控制和导纳控制更稳健、稳定和准确，或者至少与它们一样好。通过数值模拟和实验结果证明了其基本有效性和实用性。我们表明，在与未知环境接触时，所提出的力控制比单独的阻抗控制和导纳控制更稳健、稳定和准确，或者至少与它们一样好。通过数值模拟和实验结果证明了其基本有效性和实用性。