Evaluation of the Maneuverability of the Power-Assisted Mobile Robot Using Manipulability Ellipsoid
Evaluation of the Maneuverability of the Power-Assisted Mobile Robot Using Manipulability Ellipsoid
复制标题
利用操纵椭球体评估助力移动机器人的操纵性能
DOI：
10.7210/jrsj.33.531
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Terashima
中科院分区：
文献类型：
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作者：
Yuki Ueno;H. Kitagawa;K. Terashima
获得满意的机动性是助力移动机器人最重要的课题。本课题的难点在于操作者的特征不同。本研究的重点是基于速度的阻抗控制的助力移动机器人的操作。通过对实验视频的分析，我们发现操作者之间的姿势存在差异。为了定量分析差异，使用了用于机械臂分析的可操纵性椭球。从结果来看，操作者在移动方向上取较大尺寸的可操作椭球体可以顺利地操作机器人。此外，结果表明，通过调整手柄位置，使可操作椭球体变大，可以提高可操作性。然而，几乎机器人的手柄结构都不能自由设计。在这种情况下，如果可以直接或间接测量可操纵性椭球体的大小，则可以通过根据可操纵性椭球体的大小调整控制器的参数来提高可操纵性。
Getting a satisfactory maneuverability in a power-assisted mobile robot is the most important subject. The diffi-culty in this subject is in a difference of the characteristics of operators. This research focused on the operation of the power-assisted mobile robot with velocity-based impedance control. From the analysis of experimental video, we found that there was a difference in the posture between operators. In order to analyze the difference quantitatively, manipulability ellipsoid which is used for the analysis of manipulators is used. From results, an operator which takes larger size of the manipulability ellipsoid to the moving direction can operate the robot smoothly. Additionally, results show that maneuverability can be improved by adjusting the handle position to become the manipulability ellipsoid larger. However, the structure of a handle cannot be designed freely in almost robots. In this case, maneuverability can be improved by adjusting parameters of the controller depending on the size of manipulability ellipsoid, if it can be measured directly or indirectly.
基于操作者技能水平估计的全向轮椅前后驱动助力系统自整定控制
DOI：
--
发表时间：
2010
期刊：
International Conference on Intelligent Robots and Systems(IROS2010)
影响因子：
--
作者：
Kazuhiko Terashima;Kaoru Watanabe;Yuki Ueno;Youji Masui
通讯作者：
Youji Masui