A safe physical human-computer interaction control method, terminal and medium

By generating a safe reference trajectory and shaping control obstacle function, the problem of insufficient speed and position safety constraints in the prior art is solved, realizing simple and efficient physical human-computer interaction control, and improving safety and applicability.

CN118832573BActive Publication Date: 2026-05-29NANJING ESTUN AUTOMATION CO LTD
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Patent Information

Application Number
CN202410794444.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-06-19
Publication Date
2026-05-29
Estimated Expiration
2044-06-19

AI Technical Summary

Technical Problem

Existing technologies struggle to comprehensively consider speed and positional safety constraints in physical human-computer interaction, and the control methods are complex and dependent on model accuracy, resulting in insufficient safety and comfort.

Method used

By generating the desired trajectory of the rendered virtual interactive dynamics, it is shaped into a safe reference trajectory. Combined with obstacle control functions and admittance/impedance control, it ensures that the robot's speed and position do not exceed the limits and avoids collisions. Extended K∞ class functions and Jacobian matrix processing are used to simplify the controller design.

Benefits of technology

It enables simple and effective satisfaction of velocity and position safety constraints in admittance/impedance control, improves the safety and comfort of physical human-computer interaction, reduces the dependence on model accuracy, and is applicable to a variety of interaction scenarios.

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Abstract

The application discloses a safe physical human-computer interaction control method, a terminal and a medium. The method comprises the following steps: generating a desired trajectory of a rendered virtual interaction dynamic according to an interaction control equation of a robot and a human and an interaction force; shaping the generated desired trajectory according to a safety limit to obtain a safety reference trajectory; and issuing the safety reference trajectory to a robot controller for execution. The application solves the problem that traditional interaction control (admittance / impedance) cannot generally meet speed and position safety constraints. Speed limiting avoids the robot running too fast to affect interaction safety and comfort, and ensuring that the robot does not exceed the position constraint can avoid the collision between the robot and the environment, and also ensure that the human-computer interaction process does not exceed the set safety area, greatly improving the safety in physical human-computer interaction.
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