Robotic manipulator operated by human interface with positioning control using laser pointer
Robotic manipulator operated by human interface with positioning control using laser pointer
复制标题
通过人机界面操作的机器人操纵器，使用激光指示器进行定位控制
DOI：
10.1109/iecon.2000.973219
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Makoto Yashige
中科院分区：
文献类型：
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作者：
Y. Takahashi;Makoto Yashige
提出了一种由人机界面操作的机器人机械手，其具有使用激光指示器的定位控制。卧床不起的用户可以通过使用机器人操纵器来容易地操纵他/她的物品。当卧床不起的用户希望抓住目标对象时，用户通过操纵杆将目标对象暴露于激光束点。然后，用户推动杠杆的开关。在这个简单的操作之后，机器人手沿着激光束轨迹自动移动到目标对象，并且用户可以捕获目标对象。我们研究中使用的机器人机械手不需要安装区域，因为它安装在房屋的天花板上。两个直线运动执行器固定在天花板上，托架水平移动。机械手悬挂在托架上。本文介绍了机器人系统的概念、使用激光指示器的人机界面、激光束轨迹跟踪算法和目标检测算法。实验结果证实了所提出的机器人系统的有效性。
A robotic manipulator operated by a human interface with positioning control using a laser pointer is proposed. A bedridden user can easily manipulate his/her belongings by using the robotic manipulator. When a bedridden user wishes to catch a target object, the user exposes the target object to the laser beam spot by manipulating a lever. Then, the user pushes a switch of the lever. After this simple operation, a robotic hand moves automatically to the target object following a laser beam trajectory, and the user can capture the target object. The robotic manipulator used in our research does not require an installation area because it is installed on the a ceiling of a house. Two linear motion actuators are fixed on the ceiling and the carriage is moved horizontally. The robotic hand is suspended from the carriage. The paper describes the concept of the robotic system, the human interface using the laser pointer, the follow algorithm of the laser beam trajectory, and the target detection algorithm. The validity of the proposed robotic system has been confirmed by experimental results.