Simultaneous Measurement of Shape and Mechanical Impedance of an Object
Simultaneous Measurement of Shape and Mechanical Impedance of an Object
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同时测量物体的形状和机械阻抗
DOI：
10.7210/jrsj.15.997
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
S. Tachi
中科院分区：
文献类型：
--
作者：
S. Emura;S. Tachi
利用虚拟现实技术实现遥操作机器人的去同步化已成为众多研究者的研究热点。这种方法不像双边主从遥操作系统那样直接耦合操作者和从机器人，因此强烈要求自主从机器人对远程环境的智能搜索。在本文中，我们提出了一种方法，它可以测量机械阻抗和形状的目标对象和环境下的机器人阻抗控制通过添加扰动的虚拟轨迹。首先，它被认为是什么样的扰动是必要的和现实的目的。然后，我们表明，机器人与一个单一的力传感器是不够的，同时估计的机械阻抗和形状，并在接触表面上的多个点的力的测量是必不可少的。通过一个真实的二自由度机器人验证了该方法的有效性。
Desyncronized tele-robotics by virtual reality technology has been studied by many researchers. This approach does not couple an operator and a slave robot directly like bilateral master-slave teleoperation system, so the smart search of the remote environment by autonomous slave robots is strongly required. In this paper, we propose a method which can measure the mechanical impedance and shape of a target object and environment with the robot under impedance control by adding perturbation to the virtual trajectory. First, it is considered what kind of perturbation is necessary and realistic for that purpose. Then, we show that the robot with a single force sensor is insufficient for simultaneous estimation of mechanical impedance and shape, and that the measurement of force at plural points on the contact surface is essenstial. The validity of the method is checked by a 2DOF real robot.