Fault-Tolerant Force in Human and Robot Cooperation
Fault-Tolerant Force in Human and Robot Cooperation
复制标题
人与机器人合作中的容错力
DOI：
10.1007/s12369-012-0151-1
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
A. A. Maciejewski
中科院分区：
文献类型：
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作者：
H. Abdi;S. Nahavandi;Z. Najdovski;A. A. Maciejewski
容错解决方案极大地提高了机器人系统的可靠性。这一优势对于与人类合作的机器人系统至关重要。这项工作解决了容错的机器人机械手协同操纵一个对象与人类一起。合作发生缓慢提升或推动的对象。机械手的重构进行，以保持合作的力量水平，尽管发生机器人关节故障。我们提出了几种策略，研究最佳保持所需的人力水平，人机任务合作。对于每一个战略，重新配置控制法的引入，优化容错的维持力的水平。三个案例研究，以验证所提出的重构法律，表明这种方法的结果在最佳的容错力在人-机器人合作。
Fault-tolerant solutions greatly benefit the dependability of robotic systems. This advantage is critical for robotic systems that perform in collaboration with humans. This work addresses the fault tolerance of robotic manipulators for cooperatively manipulating an object together with a human. Cooperation occurs for slow lifting or pushing of the object. Reconfiguration of the manipulator is performed to maintain the cooperative force level despite the occurrence of robot joint failures. We present several strategies that are investigated for optimally maintaining the required force level for human-robot task cooperation. For each strategy, a reconfiguration control law is introduced that optimises the fault tolerance of the maintained force level. Three case studies are introduced to validate the proposed reconfiguration laws,demonstrating that this approach results in an optimal fault-tolerant force in human-robot cooperation.
DOI：
10.1016/j.automatica.2008.08.021
发表时间：
2009-02
期刊：
Autom.
影响因子：
--
作者：
T. Wojtara;M. Uchihara;H. Murayama;S. Shimoda;Satoshi Sakai;H. Fujimoto;H. Kimura
通讯作者：
T. Wojtara;M. Uchihara;H. Murayama;S. Shimoda;Satoshi Sakai;H. Fujimoto;H. Kimura