In this paper, an adaptive constrained admittance control scheme is proposed, which can effectively solve physical human–robot interaction (pHRI) tasks with output constraints. To ensure the safety of robot behavior, the constraint controller is designed in the trajectory planning layer and the control layer. The asymmetric soft saturation function (ASSF) is designed to obtain variable compliant motion trajectories generated from the desired admittance model. In addition, the controller based on the asymmetric integral barrier Lyapunov function (AIBLF) is designed to deal directly with asymmetric Cartesian space constraints. Finally, radial basis function neural network (RBFNN) is utilized to approximate the dynamics uncertainty of the robot manipulator and to improve the tracking accuracy. According to the Lyapunov stability principles, it can be proved that all states of the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the proposed control scheme is demonstrated by several simulations and experiments.
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