Impedance Control with Bounded Actions for Human

Human–robot interaction tasks have seen an increased interest in recent years, leading to the need for new proposals both for the design of new robotic systems and for their control and security schemes. In this regard, this work proposes a first approach to impedance control for robot manipulators with bounded inputs which aims to achieve safe human–robot interaction. The proposed scheme has a nonlinear proportional–derivative structure with compensation (PD%2b) based on the robot model, makes use of generalized saturation functions to generate bounded control actions, and includes an external torque compensation term based on the user’s electromyographic information. One of the main advantages of this proposal is that the human–robot interaction is defined in the joint space, which avoids singularities, since the robot works within its natural coordinates and the torque applied by the user is estimated at a joint level. The advantage of the novel control scheme can be demonstrated by the stability analysis of the closed-loop system equilibrium point, as well as by comparative analysis of the simulation results. © 2022, King Fahd University of Petroleum %26 Minerals.

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