Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm
Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm
复制标题
用于冗余机器人臂自主避开障碍物和关节限制的动力系统方法
DOI：
10.1109/iros.2006.282468
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
G. Schöner
中科院分区：
文献类型：
--
作者：
I. Iossifidis;G. Schöner
我们扩展了吸引子动力学方法，以生成冗余的拟人化手臂的目标定向运动，同时避免动态障碍物并尊重关节限制。为了使机器人的运动像人类一样，我们通过使用工具点的两个方向角来生成近似直线的轨迹，这与灵长类动物中枢神经系统中运动的表现方式非常相似。另外两个角度控制工具的空间方向，使其遵循工具点的无碰撞路径。第五个方程控制冗余角，它控制肘关节的仰角，以避开障碍物并尊重关节极限。这些变量使得在吸引子中产生运动成为可能（或者，用势场方法的语言来说，至少是这样）。我们在一个助理机器人上演示了这种方法，它与共享工作空间中的人类用户交互
We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace