An extraction method of environmental surface profile using planar end-effectors
An extraction method of environmental surface profile using planar end-effectors
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一种利用平面末端执行器的环境表面轮廓提取方法
DOI：
10.1109/amc.2006.1631686
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
R. Kubo;K. Ohnishi
对于在未知环境中工作的机器人来说，识别环境的表面轮廓是非常重要的。提出了一种基于环境模式的环境表面轮廓提取方法。平面末端执行器与环境的接触条件也是通过末端执行器的主动运动来确定的，这种主动运动称为末端执行器的摸索运动。该提取方法利用离散傅里叶变换(DFT)矩阵作为变换到环境模式的矩阵。该方法适用于形状为任意多边形的平面末端执行器。提出了一种具有3个支撑点的平面末端执行器姿态柔度控制器，以实现与未知环境的稳定接触运动。实验结果表明了该方法的有效性。
It is very important for robots working in unknown environment to recognize surface profile of the environment. This paper presents an extraction method of environmental surface profile based on environmental modes. Contact condition between a planar end-effector and the environment is also determined by using active motion which is named "groping motion" of the end-effector. The extraction method utilizes discrete Fourier transform (DFT) matrices as matrices transforming into environmental modes. The proposed method can be applied to a planar end-effector whose shape is an arbitrary polygon. Moreover, a compliance controller for attitude of a planar end-effector with 3 supporting points is proposed to realize stable contact motion with unknown environment. The validity of the proposed method is shown by the experimental results