Information and power flow during skill acquisition for the Intelligent Assisting System-IAS

M. Buss, H. Hashimoto
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引用次数: 16

Abstract

This paper discusses information and power flow in the Intelligent Assisting System (IAS). The IAS includes an intelligent manipulation assistant to a human operator, where information as well as forces between the operator, the IAS and the task environment are exchanged. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level and intelligently assist the operator. As a first approach to the IAS the authors have been developing a skill acquisition and transfer system using a sensor glove for force feedback to the human operator. The dynamic behavior of the grip transformation matrix is regarded as the essence of the performed manipulation skill shown with a simple manipulation example. A detailed analysis of force transformations between hand and object space yields a method for acquisition of the grip transform dynamic behavior accumulated in the skill database. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.
智能辅助系统(ias)技能获取过程中的信息和能量流
本文讨论了智能辅助系统(IAS)中的信息和潮流。IAS包括人类操作员的智能操作助手,其中操作员、IAS和任务环境之间的信息和力量进行交换。操作技能数据库使IAS能够在运动控制级别上执行复杂的操作,并智能地协助操作员。作为IAS的第一种方法,作者一直在开发一种技能获取和转移系统,该系统使用传感器手套将力反馈给人类操作员。通过一个简单的操作实例,将握把变换矩阵的动态行为视为实际操作技巧的本质。通过对手和物体空间之间的力转换的详细分析,得出了一种获取技能数据库中积累的握持变换动态行为的方法。本文进一步定义了一种实现目标任务轨迹的控制算法,并通过仿真验证了其可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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