基于人机协调的奇异构型机器人控制

Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI:10.1109/ROMAN.2002.1045648

K. Nakai, K. Kosuge, Y. Hirata

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引用次数: 13

摘要

本文提出了一种新的机器人奇异位形控制方案，即奇异位形控制(SCC)。本文以三菱重工“PA-10”机械手为例，推导了该机械手的控制算法。该方案通过根据机械手的构型选择合适的逆运动学解来控制机械手的奇异构型，使机械手在奇异构型下也能运动而不停止运动。将该控制算法应用于具有双机械手的MR Helper机器人，实验结果验证了奇异位形控制的有效性。

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Control of robot in singular configurations for human-robot coordination

In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the singular configuration control (SCC). In this paper, as an example, we derive the control algorithm for the manipulator "PA-10" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the singular configuration control.

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

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