机器人最优变阻抗控制及其在人抬物中的应用

Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI:10.1109/ROMAN.2002.1045671

R. Ikeura, T. Moriguchi, K. Mizutani

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引用次数: 100

摘要

本文介绍了一种机器人与人协作的控制方法。考虑了机器人与人协同移动物体的任务，研究了人臂的特性，开发了机器人的力控制器。实验中强迫机械臂沿轨迹运动，并对所受的力和位移进行了分析。研究发现，人体手臂的力特性是一个代价函数最小的最优阻尼器。然后，将该模型应用到机器人上，并对机器人与操作人员的协作性进行了检验。实验结果表明，人能够以最小的抖动轨迹移动机器人所支撑的物体。然后，将所提出的控制方法应用于人与机器人协同提升物体的任务中。实验结果表明了所提控制方法的有效性。

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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Optimal variable impedance control for a robot and its application to lifting an object with a human

This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed. It is found that the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is evaluated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory. Next, the proposed control method is applied to a task in which a human and a robot lift an object cooperatively. The results show the effectiveness of the proposed control method.

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Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication

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