Arm-manipulator coordination for load sharing using reflexive motion control

O. Al-Jarrah, Yuan F. Zheng
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引用次数: 42

Abstract

Arm-manipulator coordination is a new and attractive use of robotic manipulators in unstructured environments. In this paper, we propose a reflexive motion control as a coordination mechanism for the manipulator to share the load with the arm. Reflexive motion is an inspiration of biological systems. The motion is formulated in a manner which assists the manipulator to comprehend the intention of the human arm. It reduces the strain on the arm which is due to the weight of the object. In addition, the speed of manipulation on the object is improved significantly. The effects of the reflexive behavior on stability and load sharing of the system are investigated. Experimental results are presented to prove the effectiveness of the proposed scheme.
基于自反运动控制的臂-机械臂负载分担协调
臂-机械手协调是机器人在非结构化环境中的一种新的、有吸引力的应用。在本文中,我们提出了一种反射运动控制作为机械手与手臂分担负载的协调机制。自反运动是生物系统的灵感来源。该运动以一种帮助操纵器理解人臂的意图的方式制定。它减少了由于物体的重量而对手臂造成的压力。此外,对物体的操作速度也有了明显的提高。研究了系统自反行为对系统稳定性和负荷分担的影响。实验结果证明了该方案的有效性。
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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