{"title":"利用环境接触和传感器反馈实现机器人操纵的精确性","authors":"Jan Šifrer, Tadej Petrič","doi":"10.3390/s24217006","DOIUrl":null,"url":null,"abstract":"<p><p>This paper investigates methods that leverage physical contact between a robot's structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.</p>","PeriodicalId":21698,"journal":{"name":"Sensors","volume":"24 21","pages":""},"PeriodicalIF":3.4000,"publicationDate":"2024-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11548691/pdf/","citationCount":"0","resultStr":"{\"title\":\"Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation.\",\"authors\":\"Jan Šifrer, Tadej Petrič\",\"doi\":\"10.3390/s24217006\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>This paper investigates methods that leverage physical contact between a robot's structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.</p>\",\"PeriodicalId\":21698,\"journal\":{\"name\":\"Sensors\",\"volume\":\"24 21\",\"pages\":\"\"},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-10-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11548691/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Sensors\",\"FirstCategoryId\":\"103\",\"ListUrlMain\":\"https://doi.org/10.3390/s24217006\",\"RegionNum\":3,\"RegionCategory\":\"综合性期刊\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"CHEMISTRY, ANALYTICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sensors","FirstCategoryId":"103","ListUrlMain":"https://doi.org/10.3390/s24217006","RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"CHEMISTRY, ANALYTICAL","Score":null,"Total":0}
Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation.
This paper investigates methods that leverage physical contact between a robot's structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.
期刊介绍：
Sensors (ISSN 1424-8220) provides an advanced forum for the science and technology of sensors and biosensors. It publishes reviews (including comprehensive reviews on the complete sensors products), regular research papers and short notes. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.
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