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International Journal of Automation and Computing 2018, Vol. 15 Issue (2) :156-168    DOI: 10.1007/s11633-017-1104-9
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A Position and Torque Switching Control Method for Robot Collision Safety
Zhi-Jing Li1, Hai-Bin Wu1, Jian-Ming Yang2, Ming-Hao Wang1, Jin-Hua Ye1
1 School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China;
2 Department of Mechanical System, Meijo University, Nagoya 468-8052, Japan
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Abstract With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching control method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switching control method includes two modes, the position control mode using a proportion-integral (PI) algorithm, and the torque control mode using sliding mode control (SMC) algorithm for eliminating swing. Under the normal condition, the robot works in position control mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to position control mode automatically. Moreover, for a better performance, the joint torque is detected from direct-current (DC) motor's current rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.
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KeywordsHuman-robot interaction   position control   torque control   switching control   robot collision safety     
Received: 2017-02-14; Revised: 2017-09-28; published: 2017-09-28

This work was supported by National Natural Science Foundation of China (Nos.51175084, 51575111 and 51605093), Fujian Province Natural Science Foundation (No.2015J05121) and Fuzhou University-Enterprise Cooperation Project (No.2015H6012)

Corresponding Authors: Jin-Hua Ye     Email: yejinhua@fzu.edu.cn
About author: Zhi-Jing Li received the B.Sc. degree and M.Sc. degrees in mechatronic engineering from Anhui University of Science & Technology, China in 2011 and 2014, respectively.E-mail:lizhijingwei@163.com;Hai-Bin Wu received the Ph.D. degree in mechanical engineering from Zhejiang University, China in 2002.E-mail:wuhb@fzu.edu.cn;Jian-Ming Yang received the Ph.D. degree in electronic-mechanical engineering from Nagoya University.E-mail:yang@meijo-u.ac.jp;Ming-Hao Wang received the M. Sc. degree in computer aided engineering from Napier University, China in 2007.E-mail:judyfjut@163.com;Jin-Hua Ye received the Ph. D. degree in mechatronics engineering from South China University of Technology, China in 2014.E-mail:yejinhua@fzu.edu.cn
Cite this article:   
Zhi-Jing Li, Hai-Bin Wu, Jian-Ming Yang, Ming-Hao Wang, Jin-Hua Ye. A Position and Torque Switching Control Method for Robot Collision Safety[J]. International Journal of Automation and Computing , vol. 15, no. 2, pp. 156-168, 2018.
http://www.ijac.net/EN/10.1007/s11633-017-1104-9      或     http://www.ijac.net/EN/Y2018/V15/I2/156
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