在机器人抓取任务中使用柔顺机械手权衡的实验比较

S. Sur, R. Murray
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引用次数: 6

摘要

基于一种新的柔性机械臂奇异摄动分析方法,在双机器人抓取实验装置上实现了柔性连杆机器人的力-位置混合控制。建立了各种性能标准,并在此设置下讨论了实验结果,以显示使用柔性连杆机器人进行抓取的权衡。我们得出的结论是,大的灵活性可以在没有太多额外努力的情况下进行控制,具有与刚性机器人相当的性能,并且具有增强的特性,使其在某些类型的应用中具有吸引力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An experimental comparison of tradeoffs in using compliant manipulators for robotic grasping tasks
Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental two-robot grasping setup. Various performance criteria are set up and experimental results are discussed within that setting to show tradeoffs in using flexible link robots for grasping. We conclude that large flexibility can be controlled without too much additional effort, has performance comparable to rigid robots and possesses enhancing properties which make it attractive for use in certain types of applications.
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