基于代理的具有方向约束的导向虚拟夹具

IF 2.1 Q3 ROBOTICS
Weitao Hu, Xinan Pan, Hongguang Wang
{"title":"基于代理的具有方向约束的导向虚拟夹具","authors":"Weitao Hu, Xinan Pan, Hongguang Wang","doi":"10.1007/s41315-024-00371-w","DOIUrl":null,"url":null,"abstract":"<p>Aiming at the problem of defining the shortest distance between poses in traditional virtual fixtures, this paper proposes a proxy-based guidance virtual fixtures with orientation constraints, which can assist operators in the path following task. By designing the dynamics of the proxy and then connecting it to the robot using a spring-damping model, the end-effector position can be constrained within the pipeline and cone, and the stiffness coefficients of the virtual forces can be adjusted linearly or nonlinearly. To overcome the cumulative errors, we then propose a discretized improved algorithm, which applies the virtual fixtures on a discretized reference curve. Furthermore, the orientation constraints are defined, and hence the end-effector orientation can also be constrained within a specific range to comply with ergonomics. An experiment was conducted using a Franka Emika Panda robot and involving 9 subjects. The results show that compared to the gravity compensation mode, the pipeline virtual fixtures and the virtual fixtures with the pipeline and cone, as proposed in this paper, reduced task completion time by 38% and 44.7%, respectively. Additionally, they reduced the total mental burden obtained from NASA-TLX by 29.96% and 47.42%, respectively.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Proxy-based guidance virtual fixtures with orientation constraints\",\"authors\":\"Weitao Hu, Xinan Pan, Hongguang Wang\",\"doi\":\"10.1007/s41315-024-00371-w\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Aiming at the problem of defining the shortest distance between poses in traditional virtual fixtures, this paper proposes a proxy-based guidance virtual fixtures with orientation constraints, which can assist operators in the path following task. By designing the dynamics of the proxy and then connecting it to the robot using a spring-damping model, the end-effector position can be constrained within the pipeline and cone, and the stiffness coefficients of the virtual forces can be adjusted linearly or nonlinearly. To overcome the cumulative errors, we then propose a discretized improved algorithm, which applies the virtual fixtures on a discretized reference curve. Furthermore, the orientation constraints are defined, and hence the end-effector orientation can also be constrained within a specific range to comply with ergonomics. An experiment was conducted using a Franka Emika Panda robot and involving 9 subjects. The results show that compared to the gravity compensation mode, the pipeline virtual fixtures and the virtual fixtures with the pipeline and cone, as proposed in this paper, reduced task completion time by 38% and 44.7%, respectively. Additionally, they reduced the total mental burden obtained from NASA-TLX by 29.96% and 47.42%, respectively.</p>\",\"PeriodicalId\":44563,\"journal\":{\"name\":\"International Journal of Intelligent Robotics and Applications\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-08-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Robotics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1007/s41315-024-00371-w\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00371-w","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

针对传统虚拟夹具中姿势间最短距离的定义问题,本文提出了一种具有方向约束的基于代理的引导虚拟夹具,可以帮助操作员完成路径跟随任务。通过设计代理的动力学特性,然后使用弹簧阻尼模型将其与机器人连接,末端执行器的位置就可以被约束在管道和锥体内,虚拟力的刚度系数也可以进行线性或非线性调整。为了克服累积误差,我们随后提出了一种离散化改进算法,在离散化参考曲线上应用虚拟固定装置。此外,我们还定义了方向约束,从而将末端执行器的方向约束在特定范围内,以符合人体工程学。我们使用弗兰卡-埃米卡-熊猫机器人进行了一项实验,共有 9 名受试者参与。结果表明,与重力补偿模式相比,本文提出的管道式虚拟固定装置以及带有管道和锥体的虚拟固定装置分别缩短了 38% 和 44.7% 的任务完成时间。此外,它们还将从 NASA-TLX 获取的总心理负担分别减少了 29.96% 和 47.42%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Proxy-based guidance virtual fixtures with orientation constraints

Proxy-based guidance virtual fixtures with orientation constraints

Aiming at the problem of defining the shortest distance between poses in traditional virtual fixtures, this paper proposes a proxy-based guidance virtual fixtures with orientation constraints, which can assist operators in the path following task. By designing the dynamics of the proxy and then connecting it to the robot using a spring-damping model, the end-effector position can be constrained within the pipeline and cone, and the stiffness coefficients of the virtual forces can be adjusted linearly or nonlinearly. To overcome the cumulative errors, we then propose a discretized improved algorithm, which applies the virtual fixtures on a discretized reference curve. Furthermore, the orientation constraints are defined, and hence the end-effector orientation can also be constrained within a specific range to comply with ergonomics. An experiment was conducted using a Franka Emika Panda robot and involving 9 subjects. The results show that compared to the gravity compensation mode, the pipeline virtual fixtures and the virtual fixtures with the pipeline and cone, as proposed in this paper, reduced task completion time by 38% and 44.7%, respectively. Additionally, they reduced the total mental burden obtained from NASA-TLX by 29.96% and 47.42%, respectively.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信