Owing to the increasing engagement of service robots in everyday life, significant requirements are imposed on their control systems to ensure safe interaction between robots and humans. The stiffness of the motion executed by the service robots is not high, as with industrial robots, but has to be variable depending on the defined task. Therefore, a service robot needs to have soft actuation, delivering “human-like” motion dependant on the interaction force between the robot and its environment. Such an operation requires switching from the trajectory tracking (position control) mode to the interaction (force control) mode, and vice versa . Conventional control methods, based on hybrid position/force control, or switching between a position and force controller, may fail short in these cases. Thus, we have previously proposed a new control method, denoted as universal motion controller, that merges the position and force control into a single control structure. The control method is elaborated in this article, and its experimental validation is presented for the first time for multi-degree-of-freedom systems.

中文翻译：

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服务机器人智能驱动系统

由于服务机器人在日常生活中的参与度越来越高，对其控制系统提出了很高的要求，以确保机器人与人类之间的安全交互。服务机器人执行的运动的刚度并不像工业机器人那样高，但必须根据定义的任务而变化。因此，服务机器人需要具有软驱动，根据机器人与其环境之间的相互作用力来提供“类人”运动。这样的操作需要从轨迹跟踪（位置控制）模式切换到交互（力控制）模式，并且反之亦然 。基于混合位置/力控制或位置和力控制器之间切换的传统控制方法在这些情况下可能会失败。因此，我们之前提出了一种新的控制方法，称为通用运动控制器，它将位置和力控制合并到单个控制结构中。本文详细阐述了该控制方法，并首次针对多自由度系统进行了实验验证。