Research on the Impedance Control of Human-robot Cooperative Manipulator Based on Human-friendly Technology

The paper had studied the human-robot cooperation with moving an object based on a three DOF (Degree of Freedom) manipulator. Firstly, the impedance control based on impedance model for the manipulator had been designed, and confirmed through the Simulink simulation. And then, the impedance parameters of the manipulator were obtained by using the least square method. For the human-friendly, the paper had proposed a new method. That is to compare the impedance characteristics of the manipulator with the impedance model of the human-human cooperation. The paper analyzed the human-friendly in quantitative by calculating the percentage error of the impedance parameters. Finally, the paper verified the human-friendly of the manipulator using the method. And it found that the designed impedance control can make the manipulator be human-friendly