High-level control of a mobile manipulator for door opening
High-level control of a mobile manipulator for door opening
复制标题
用于开门的移动机械手的高级控制
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
D. Kragic
中科院分区：
文献类型：
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作者：
L. Petersson;D. Austin;D. Kragic
本文将现有的力/力矩控制算法应用于移动操作中，重点研究了开门任务。为了使解决方案健壮，需要做尽可能少的假设。通过使用力的松弛作为控制的基本水平，可以从产生的运动中得到更复杂的信息。在我们的系统中，门的半径和旋转中心是在线估计的。这使得整个系统在未知环境中具有更高程度的自主性。此外，机器人的冗余是利用这样一种方式来驱动系统向所需的配置。该算法采用混合动力系统的框架来实现，为系统的安全性和功能性分析提供了一个理论上合理的框架。将上述方法结合在一起，系统可以鲁棒地定位和抓取门把手，然后开门。
In this paper, off-the-shelf algorithms for force/torque control are used in the context of mobile manipulation, in particular, the task of opening a door is studied. To make the solution robust, as few assumptions as possible are made. By using relaxation of forces as the basic level of control more complex information can be derived from the resulting motion. In our system, the radius and centre of rotation of the door are estimated online. This enables the complete system to have a higher degree of autonomy in an unknown environment. In addition, the redundancy of the robot is exploited in such a way to drive the system towards a desired configuration. The framework of hybrid dynamic systems is used to implement the algorithm which gives a theoretically sound framework for analysing the system with respect to safety and functionality. The integration of the above approaches results in a system which can robustly locate and grasp the handle and then open the door.