基于非线性扰动观测器的人-机器人协同运输系统辅助控制

IF 0.5 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Electronics and Communications in Japan Pub Date : 2022-10-17 DOI:10.1002/ecj.12382

Yuki Okura, Tomohiro Nakada, Chiaki Kojima

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引用次数: 0

摘要

在本文中，我们研究了一个辅助控制系统，其中一个人与机器人合作，以运送一个物体到一个指定的位置和角度。我们考虑一种情况，人对物体的力不能直接测量。为了解决这种情况，提出了一种带有非线性扰动观测器的辅助控制方法。通过使用观测器，我们从物体的位置和角度估计由于人的控制输入。此外，基于干扰观测器的估计，我们设计了机器人的控制输入来辅助人类的输入。通过最小扰动模型的数值模拟，讨论了该方法的有效性。

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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Assist control for human-robot cooperative transportation systems using nonlinear disturbance observer

In this paper, we investigate an assist control for a system in which a human and a robot cooperate to transport an object toward a designated position and angle. We consider a situation where the force due to the human to the object cannot be measured directly. In order to tackle this situation, an assist control with a nonlinear disturbance observer is proposed. By using the observer, we estimate the control input due to the human from position and angle of the object. Moreover, we design the control input by the robot to assist the human input based on the estimates by the disturbance observer. The effectiveness of the proposed method is discussed by numerical simulations for the minimum jerk model.

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来源期刊

Electronics and Communications in Japan 工程技术-工程：电子与电气

CiteScore

0.60

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： Electronics and Communications in Japan (ECJ) publishes papers translated from the Transactions of the Institute of Electrical Engineers of Japan 12 times per year as an official journal of the Institute of Electrical Engineers of Japan (IEEJ). ECJ aims to provide world-class researches in highly diverse and sophisticated areas of Electrical and Electronic Engineering as well as in related disciplines with emphasis on electronic circuits, controls and communications. ECJ focuses on the following fields: - Electronic theory and circuits, - Control theory, - Communications, - Cryptography, - Biomedical fields, - Surveillance, - Robotics, - Sensors and actuators, - Micromachines, - Image analysis and signal analysis, - New materials. For works related to the science, technology, and applications of electric power, please refer to the sister journal Electrical Engineering in Japan (EEJ).