Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction

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issn 1650-8580 isbn 978-91-7668-776-5

Muhammad Rehan Ahmed received his Bachelor degree in Electronics Engineering from the Sir Syed University of Engineering and Technology (SSUET), Karachi, Pakistan. He secured first class second position Gold Medal at the university. In 2003, He was awarded Study in France scholarship for his Master’s degree from France. He received MSc degree in Control Systems (2004) from Institut National des Sciences Appliquees (INSA), Toulouse, France. In 2006, He was awarded overseas scholarship for PhD in selected fields for Sweden by Higher Education Commission (HEC), Pakistan. Since September 2006, he has been a graduate student in the field of Mechatronics and Control at the Center for Applied Autonomous Sensor Systems (AASS), Örebro University, Sweden. His research interests include physical human robot interaction (pHRI), collision safety and robot compliance control with particular focus on compliant actuators for robot manipulators.

The major challenge in pHRI is the safe sharing of robot work space such that robot will not cause harm or injury to the human. Embedding human like adaptable compliance into robot manipulators can provide safe pHRI and can be achieved by using active, passive and semi active compliant actua-tion devices. Active and passive compliance lead to complex control systems and complex mechanical design. We present semi active compliant robot manipulator having magneto rheological fluid based actuation mechanism with high accuracy, intrinsic safety and high absorption to impacts. Safety is assured by mechanism design rather than by conventional approach based on advance control. Control schemes for implementing adaptable compliance are implemented in parallel with the robot motion control. In this thesis, we address human robot collision safety and robot motion performance in pHRI. The experimental results in direct and inadvertent contact situations validate our solution of implementing human like adaptable compliance during robot motion and prove safe interaction with humans in anthropic domains.