Trajectory Adaptation with Impedance Control for Human-Robot Collaboration Tasks

In human-robot collaboration tasks, an operator usually interacts with a robot physically and guides the robot to move by employing the interaction force in the model of impedance control. However, in physical human-robot interaction (pHRI), the trade-off between the position accuracy and interaction force is one of the main disadvantages of impedance control. In order to achieve compliant control with a high position control accuracy, a method of trajectory adaptation based on impedance control is proposed with minimized interaction force and small position error in pHRI and the effectiveness of the collaboration tasks is guaranteed. We use impedance control to generate the robot's movement for compliant control and use trajectory adaptation to regulate the robot's reference trajectory. By employing the proposed method, the interaction force can be reduced with small position error. The results of experiment verify the effectiveness of the proposed method.