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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Finite-Time Interactive Control of Robots with Multiple Interaction Modes.

Jiantao Yang1, Tairen Sun1

  • 1The School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

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|May 28, 2022
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Summary
This summary is machine-generated.

This study introduces a novel finite-time robotic control strategy for safe human-robot interaction. It ensures rapid achievement of desired dynamics, precise trajectory tracking, and controlled stops across different interaction modes.

Keywords:
finite-time controlhuman–robot interactionimpedance controlmultiple interaction modestrajectory tracking

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Area of Science:

  • Robotics
  • Control Theory
  • Human-Robot Interaction

Background:

  • Physical human-robot interaction (pHRI) requires robust control strategies for safety and performance.
  • Existing controllers may struggle with smooth transitions and rapid response across different interaction scenarios.

Purpose of the Study:

  • To propose a finite-time multi-modal robotic control strategy for enhanced physical human-robot interaction.
  • To ensure stability, continuity, and rapid convergence in various interaction modes.

Main Methods:

  • A multi-modal controller combining a modified super-twisting finite-time control term with a continuity-guaranteed term.
  • Design of interaction modes: Active Interaction Mode (AIM), Passive Interaction Mode (PIM), and Safety-Stop Mode (SSM).
  • Lyapunov-based stability analysis and simulations on a robot manipulator.

Main Results:

  • Finite-time achievement of desired impedance dynamics in AIM.
  • Finite-time convergence of tracking error to zero in PIM.
  • Finite-time robotic motion stop in SSM.
  • Guaranteed control input continuity and smooth mode transitions.

Conclusions:

  • The proposed finite-time multi-modal controller ensures stability and effectiveness in physical human-robot interaction.
  • The strategy enables rapid and safe transitions between different interaction modes.
  • Validated control approach for advanced robotic systems in collaborative environments.