Control of a Macro-Micro Robot System Using Manipulability of the Micro Robot
Control of a Macro-Micro Robot System Using Manipulability of the Micro Robot
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DOI：
10.1299/jsmec.49.897
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发表时间：
2006-09
期刊：
影响因子：
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通讯作者：
Bui Trong Quan;Jian Huang;M. Harada;T. Yabuta
中科院分区：
文献类型：
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作者：
Bui Trong Quan;Jian Huang;M. Harada;T. Yabuta
将3‘自由度机器人手指固定在6’自由度机器人手臂末端执行器上，构成了一个能够模拟人类手指-手臂系统的冗余度宏微机器人系统。然而，如何自然地确定冗余度机器人系统的关节角度和速度仍然是一个困难的问题。本文描述了一种控制系统的方法，以产生模仿人的手-臂运动的常见运动。为了实现这一目的，当手指的可操纵性太低，系统即将错过期望的目标时，手指主要应该完成微妙的局部运动，同时手臂移动来帮助手指。通过实验验证和讨论了该方法对运动生成的有效性以及动能与可操作性之间的关系。
A 3’DOF robot finger is fixed to the end-effector of a 6’DOF robot arm to construct a redundant macro-micro robot system that is able to emulate the finger-arm system of a human being. However, determining joint angles and velocities of a redundant robot system in a natural way remains a difficult issue. This paper describes a method to control the system so as to generate common motions emulating the hand-arm movement of a human. To achieve this purpose, the finger is primarily supposed to complete delicate local motions while the arm moves to assist the finger when the manipulability of the finger is too low and the system is about to miss the desired target. The effectiveness on motion generation and the relation between kinetic energy and manipulability by using the proposed method has been experimentally demonstrated and discussed.