Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly
Xingwei Zhao,
Yiming Chen,
Lu Qian,
Bo Tao,
Han Ding
Affiliations
Xingwei Zhao
State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Yiming Chen
State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Lu Qian
State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Bo Tao
Corresponding author.; State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Han Ding
State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Human–robot (HR) collaboration (HRC) is an emerging research field because of the complementary advantages of humans and robots. An HRC framework for robotic assembly based on impedance control is proposed in this paper. In the HRC framework, the human is the decision maker, the robot acts as the executor, while the assembly environment provides constraints. The robot is the main executor to perform the assembly action, which has the position control, drag and drop, positive impedance control, and negative impedance control modes. To reveal the characteristics of the HRC framework, the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed. In the end, HRC assembly experiments are conducted, where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit. Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.
