Control of robot in singular configurations for human-robot coordination
Control of robot in singular configurations for human-robot coordination
复制标题
单一配置下的机器人控制以实现人机协调
DOI：
10.1109/roman.2002.1045648
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Y. Hirata
中科院分区：
文献类型：
--
作者：
K. Nakai;K. Kosuge;Y. Hirata
在本文中，我们提出了一种新的控制方案的机器人在其奇异配置的人类机器人协调称为奇异配置控制（SCC）。在本文中，作为一个例子，我们推导出的控制算法的机械手“PA-10”由三菱重工有限公司生产的。该计划控制机械手在其奇异配置适当选择的逆运动学的解决方案，根据机械手的配置，使机械手可以移动，即使在其奇异配置没有停止运动。所提出的控制算法被应用到一个机器人与双机械手被称为MR助手和实验结果说明了奇异位形控制的有效性。
In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the singular configuration control (SCC). In this paper, as an example, we derive the control algorithm for the manipulator "PA-10" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the singular configuration control.