Opening the door to new sensor-based robot applications—The Reflexxes Motion Libraries
Opening the door to new sensor-based robot applications—The Reflexxes Motion Libraries
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打开新的基于传感器的机器人应用之门——Reflexxes 运动库
DOI：
10.1109/icra.2011.5980578
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
T. Kröger
中科院分区：
文献类型：
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作者：
T. Kröger
本文介绍了反射运动库和描述，他们如何打开下一代机器人运动控制器的大门。当机器人能够执行传感器引导和传感器保护的运动时，不再有预定义的路径，并且必须在线计算运动，即在运动期间。Reflexes运动库仅计算一个控制周期内的急动限制运动（通常为1 ms或更少）。通过这种方式，机器人可以对不可预见的传感器事件做出即时反应，这为大量新的机器人功能和全新的运动控制功能打开了大门。例如：坐标系的不可预见的切换、控制状态空间的不可预见的切换、对传感器信号的确定性和瞬时反应、对传感器故障的安全和稳定反应、简单的视觉伺服控制以及稳定的切换系统控制。所有这些功能都是重要的传感器为基础的机器人运动的执行和实现新的应用程序，将在本文中概述。
This paper introduces the Reflexxes Motion Libraries and describes, how they open doors for next generation robot motion controllers. When robots become capable to perform sensor-guided and sensor-guarded motions, there is no predefined path anymore, and motions have to be calculated on-line, that is, during the motion. The Reflexxes Motion Libraries calculate jerk-limited motions within one control cycle only (typically 1ms or less). This way, robots can instantaneously react to unforeseen sensor events, which opens the door to a huge number of new robot capabilities and fundamentally new motion control features. For instance: unforeseen switchings of coordinate frames, unforeseen switchings of control state spaces, deterministic and instantaneous reactions to sensor signals, safe and stable reactions to sensor failures, simple visual servo control, and stable switched-system control. All these features are important for the execution of sensor-based robot motions and to realize new applications as will be outlined in this paper.