Motion Generation for Human-Robot Cooperation considering Range of Joint Movement
Motion Generation for Human-Robot Cooperation considering Range of Joint Movement
复制标题
考虑关节运动范围的人机合作运动生成
DOI：
10.1109/iros.2006.282057
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
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作者：
Fumi Seto;Y. Hirata;K. Kosuge
提出了一种用于人机协作的机器人操作臂实时自避碰运动生成方法。在这种方法中，我们表示的机器人的身体，通过使用弹性元素被称为“长袍（表示身体的弹性元素）"。在机器人实际自碰撞之前，基于弹性元件之间的接触所产生的虚拟反作用力，可以实现自碰撞回避。在本文中，我们扩展这种方法，不仅控制机器人的机械手，而且其移动的基础。在此基础上，重点研究了机器人关节运动范围，提出了考虑关节运动范围的自避碰运动生成方法，使机器人与人协作时能够生成满足任务/环境约束的自避碰运动。以平面四自由度移动的机械臂为例，进行了仿真验证
We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot used for human-robot cooperation. In this method, we represent the robots' body by using elastic elements referred to as "RoBE (representation of body by elastic elements)". The self-collision avoidance could be realized based on a virtual reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots' manipulator, but also its mobile base. Furthermore, we focus on the range of the joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these, the self-collision motions which could deal with task/environmental constraints could be generated on the robot cooperating with a human. The proposed method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of it
DOI：
10.1109/iros.2005.1544958
发表时间：
2005-12
期刊：
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Fumi Seto;K. Kosuge;Y. Hirata
通讯作者：
Fumi Seto;K. Kosuge;Y. Hirata