WCSE 2023
ISBN: 978-981-18-7950-0 DOI: 10.18178/wcse.2023.06.032

Research on Human-Redundant Robot Interaction and Configuration Optimization

Yu Li, Liang Wang

Abstract—Redundant robots have obvious advantages such as good motion performance, avoiding singularity and joint limit. Human-robot interaction is an important content in robot field. Currently, there are relatively few research on cooperative compliance of redundant robot. Therefore, taking 4-DOF redundant robot as the research object, the forward and inverse kinematics model is obtained. In order to make full use of redundant characteristics, the inverse kinematics algorithm based on augmented Jacobian matrix with the optimization goal of avoiding joint limit is adopted, which greatly shortens the solution time and can meet real-time control requirement. Then, admittance control system is established for human-robot interaction, and force error is converted into motion error. Through the expansion of Jacobian matrix and admittance control system, human-robot interaction is achieved, while configuration optimization control is also realized. The research provides an important reference for compliance interaction of human-redundant robot cooperation.

Index Terms—human-robot interaction, redundant robot, admittance control, configuration optimization

Yu Li, Liang Wang
School of Automation Science and Electrical Engineering, Beihang University, CHINA


Cite: Yu Li, Liang Wang, "Research on Human-Redundant Robot Interaction and Configuration Optimization" Proceedings of 2023 the 13th International Workshop on Computer Science and Engineering (WCSE 2023), pp. 223-230, June 16-18, 2023.