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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2603.13959 |
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| _version_ | 1866918388155023360 |
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| author | Paul, Chayan Kumar Dey, Bhabani Shankar Kar, Indra Narayan |
| author_facet | Paul, Chayan Kumar Dey, Bhabani Shankar Kar, Indra Narayan |
| contents | This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according to task compliance and task-space safety requirements. Additionally, a disturbance bound is incorporated to enhance robustness against disturbances. Safety guarantees are explicitly established by integrating invariance control, ensuring that the reference trajectory remains within the admissible region. Stability of the switched system is analyzed using a common quadratic Lyapunov function, which confirms asymptotic convergence of the tracking error. The effectiveness of the approach is demonstrated through simulations on a two link manipulator and comparisons with existing methods are also presented. Furthermore, real time implementation on a single link manipulator validates the practical feasibility of the controller, highlighting its ability to achieve both compliance and safety in physical interaction scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_13959 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safety in Admittance Control using Reference Trajectory Shaping Paul, Chayan Kumar Dey, Bhabani Shankar Kar, Indra Narayan Systems and Control This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according to task compliance and task-space safety requirements. Additionally, a disturbance bound is incorporated to enhance robustness against disturbances. Safety guarantees are explicitly established by integrating invariance control, ensuring that the reference trajectory remains within the admissible region. Stability of the switched system is analyzed using a common quadratic Lyapunov function, which confirms asymptotic convergence of the tracking error. The effectiveness of the approach is demonstrated through simulations on a two link manipulator and comparisons with existing methods are also presented. Furthermore, real time implementation on a single link manipulator validates the practical feasibility of the controller, highlighting its ability to achieve both compliance and safety in physical interaction scenarios. |
| title | Safety in Admittance Control using Reference Trajectory Shaping |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.13959 |