Whole arm obstacle avoidance for teleoperated robots
Whole arm obstacle avoidance for teleoperated robots
复制标题
遥控机器人全臂避障
DOI：
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复制
发表时间：
1994
期刊：
影响因子：
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通讯作者：
J. Novak
中科院分区：
文献类型：
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作者：
J. Feddema;J. Novak
本文介绍了一个防撞系统，使用全臂接近（WHAP）传感器在一个MANUA 560机器人手臂。电容式传感器产生的电场，可以完全包围机器人手臂和检测障碍物，因为他们从任何方向接近。的方向障碍物的信息，收集的WHAP传感器与传感器的几何形状和机器人配置一起被用来缩放命令的关节速度的机器人。WHAP传感器阅读与距障碍物的距离之间的线性化关系允许将WHAP读数中的扰动直接转换为接头速度中的扰动。WHAP阅读用于直接减小命令输入速度沿着传感器法向轴的分量，从而允许在手臂接近障碍物时缓慢减小速度。通过仅缩放速度矢量在最近障碍物的方向上的分量，控制系统限制在障碍物的方向上的运动，同时允许在其他方向上的不受约束的运动。<<ETX>>
This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on a PUMA 560 robot arm. The capacitance-based sensors generate electric fields which can completely encompass the robot arm and detect obstacles as they approach from any direction. The directional obstacle information, gathered by the WHAP sensors together with the sensor geometry and robot configuration is used to scale the commanded joint velocities of the robot. A linearized relationship between the WHAP sensor reading and the distance from the obstacle allows direct transformation of perturbations in WHAP readings to perturbations in joint velocities. The WHAP reading is used to directly reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful reductions in speed as the arm approaches the obstacle. By scaling only the component of the velocity vector in the direction of the nearest obstacles, the control system restricts motion in the direction of obstacles while permitting unconstrained motion in other directions.<<ETX>>