Dynamic Virtual Fixtures Based on Path Following Control

Abstract

This paper presents a path following control (PFC) approach to generate guidance virtual fixtures with dynamic constraints (time-varying constraints) for physical human-robot interaction tasks. Using input-output feedback linearization and a parallel transport frame, the system dynamics are linearized and decomposed into tangential and orthogonal direction with respect to a time-varying path, which is parametrized as a regular threefold continuously differentiable curve. The presented PFC approach is combined with compliance control, which enables the systematic generation of virtual fixtures. An experiment on a six-axis industrial robot reveals the potential of this approach to generate virtual fixtures with dynamic constraints.