基于运动估计的人机协同操作

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI:10.1109/IROS.2001.976403

Y. Maeda, T. Hara, T. Arai

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引用次数: 128

摘要

研究了一种用于人机协作操作的机器人控制方法。我们提出了用最小抖动模型来估计人体运动的平滑合作。利用非线性最小二乘法，实时辨识出最小扰动模型的两个参数。在虚拟柔度控制中，利用估计的人手位置来确定机械手末端执行器的期望位置。通过工业六自由度机械臂的实验验证了该方法的有效性。从适应理论的角度对合作操作中的能量转移进行了研究，以定量评价已达成的合作。

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Human-robot cooperative manipulation with motion estimation

A control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using a nonlinear least-squares method, we identify two parameters of the minimum jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector of the manipulator in virtual compliance control. The effectiveness of the proposed method is verified by experimentation with an industrial 6-degree-of-freedom manipulator. Energy transfer in cooperative manipulation is studied for quantitative evaluation of achieved cooperation from the viewpoint of adaptation theory.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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