English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Physical Human-Robot Interaction (pHRI) task involves tight coupling betweensafety constraints and compliance with human intentions. In this paper, a novelswitched model reference admittance controller is developed to maintaincompliance with the external force while upholding safety constraints in theworkspace for an n-link manipulator involved in pHRI. A switched referencemodel is designed for the admittance controller to generate the referencetrajectory within the safe workspace. The stability analysis of the switchedreference model is carried out by an appropriate selection of the CommonQuadratic Lyapunov Function (CQLF) so that asymptotic convergence of thetrajectory tracking error is ensured. The efficacy of the proposed controlleris validated in simulation on a two-link robot manipulator.

Safe Human Robot-Interaction using Switched Model Reference Admittance Control