Control of a robotic manipulator for catching a falling raw egg to achieve human-robot soft physical interaction
Control of a robotic manipulator for catching a falling raw egg to achieve human-robot soft physical interaction
复制标题
控制机器人机械手接住掉落的生鸡蛋，实现人机软物理交互
DOI：
10.1109/roman.2012.6343846
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Kazuaki Ryuman
中科院分区：
文献类型：
--
作者：
N. Uchiyama;S. Sano;Kazuaki Ryuman
机器人系统为人类活动的许多领域提供支持，例如工业、福利、护理、家务和办公室工作。人机软物理交互对于实现人类生活环境中的安全支持至关重要。本研究通过提出一种机器人操纵器捕捉掉落的生鸡蛋的控制方法，考虑了机器人与物体之间的软物理相互作用。首先，我们考虑机器人操纵器的非线性解耦控制。接下来，提出了一种用于捕捉具有小冲击力的下落物体的控制器设计。该控制器由两部分组成：位置跟踪控制器，在物体与末端执行器接触之前跟踪所需的轨迹；以及力控制器，在接触后触发。我们采用基于位置的阻抗控制器，以便整个控制系统可以构建为基于位置的控制器。为了获得良好的跟踪性能并减少冲击力，采用离散时间自适应二自由度控制器，该控制器考虑了摩擦等干扰。实验结果证明了该方法的有效性。
Robotic systems provide support for many areas of human activities such as industry, welfare, nursing, housework, and office work. Human-robot soft physical interaction is crucial for realizing safe support in human living environments. This study considers the soft physical interaction between a robot and an object by presenting a control method of a robotic manipulator that catches a falling raw egg. First, we consider a nonlinear decoupling control of a robotic manipulator. Next, a controller design is presented for catching a falling object with a small impact force. This controller consists of two parts: a position tracking controller that tracks a desired trajectory before contact between the object and the end-effector, and a force controller that is triggered after the contact. We employ a position-based impedance controller so that the entire control system can be constructed as a position-based controller. To achieve good tracking performance and reduce the impact force, a discrete-time adaptive two-degree of freedom controller is employed, which considers disturbances such as friction. Experimental results demonstrate the effectiveness of the proposed approach.