Human–robot collaborative polishing can integrate the capabilities of humans and automation to deal with complex polishing tasks. Traditional impedance-control-based human–robot collaboration (HRC) requires operators to physically interact with robots for a good polishing performance, which brings unsafety to operators. To address this issue, a corrective shared control architecture using haptic feedback is proposed in this paper, where the direct force-reflection is used to guarantee the exact human-intention intervention. The proposed control architecture is designed with two layers: (i) the transparency layer in which the direct force-reflection and the human–robot collaborative polishing strategy are implemented; (ii) the passivity layer in which two energy tanks are designed and endowed with master and slave sides and a coupling energy scaling policy is employed to guarantee the passivity of the whole system. Under the proposed architecture, the constant force is adopted to polish normal areas of workpieces, and corrective force based on human intention is applied to deal with unexpected issues. Finally, two groups of experiments are conducted to evaluate the proposed architecture from two aspects: polishing effect and user experience.

中文翻译：

---

用于人机协作抛光任务的校正共享控制架构


人机协同抛光可以整合人类和自动化的能力来处理复杂的抛光任务。传统的基于阻抗控制的人机协作（HRC）需要操作员与机器人进行物理交互才能获得良好的抛光性能，这给操作员带来了不安全性。为了解决这个问题，本文提出了一种使用触觉反馈的校正共享控制架构，其中直接力反射用于保证准确的人意干预。所提出的控制架构设计有两层：（i）透明层，其中实施直接力反射和人机协作抛光策略； (ii)被动层，设计两个能量罐，赋予主从侧，并采用耦合能量缩放策略来保证整个系统的被动性。在所提出的架构下，采用恒定的力来抛光工件的正常区域，并应用基于人的意图的校正力来处理意外问题。最后，进行两组实验，从打磨效果和用户体验两个方面评估所提出的架构。