Impedance-Based Interaction Strategies for a Serial Collaborative Robot

This study introduces a method focusing on both obstacle avoidance and interaction techniques for a serial collaborative robot, employing impedance control. Collaborative robots operate in conjunction with humans within the same workspace, necessitating advanced control strategies to prevent human-robot collisions. The paper elaborates on an impedance control strategy that integrates force and position control, incorporating a virtual stiffness concept around objects. This approach facilitates not only the evasion of obstacles but also controlled interactions with objects when necessary. The efficacy of the proposed method is validated through numerical analyses, demonstrating its applicability in scenarios that demand both avoidance and intentional contact with objects.