ScholarWorks@숙명여자대학교

초록

This study investigates force controller design methods for physical human–robot interaction, with a particular focus on preventing force overshoot, which can pose safety risks during collaboration. For a PD-type force controller, we derive specific conditions under which overshoot in the transient response can be avoided. In contrast, we demonstrate that introducing an integrator, as in a PID controller, can lead to force overshoot under certain gain configurations. Simulation results confirm that the PD-type force controller avoids overshoot when the proposed conditions are satisfied, while the PID-type force controller consistently exhibits overshoot across various settings. Notably, when the rightmost poles of the closed-loop system are complex conjugates, the system always exhibits an overshoot. Even when the dominant poles are real, overshoot may still occur if the control gains meet specific criteria. These findings provide practical guidelines for designing safe and stable force control systems in collaborative robots, contributing to improved reliability in human–robot physical interaction.

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