Dynamic modeling and control for whole body manipulation
Dynamic modeling and control for whole body manipulation
复制标题
全身操纵的动态建模和控制
DOI：
10.1109/iros.2003.1249643
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
S. Hosoe
中科院分区：
文献类型：
--
作者：
F. Asano;Zhiwei Luo;M. Yamakita;S. Hosoe
与现有的机械手控制技术仅通过机器人的末端执行器操作物体不同，人类可以灵活轻松地进行全身操作。仿生研究人类的这种熟练的运动行为，不仅对人类的感觉和神经控制功能的深入了解，而且对开发更高层次的机器人是重要的。在本文中，我们首先制定了机器人操作器和它的对象之间的多点全身相互作用的基本模型。然后，我们研究了三种控制方法，考虑力反馈的局限性，控制算法的复杂性。作为一个例子，我们考虑一个2连杆平面机械手，操作一个圆形物体与动态手臂摩擦。我们展示了一个计算机仿真算法，并比较了每种控制方法的结果，数值。
Unlike the present manipulator control technologies that operate objects only by the robots' end-effectors, human beings can perform whole body manipulation flexibly and easily. Bio-mimetic research of such skillful human motor behavior is important not only for deeper understanding of human sensations and nervous control functions but also for developing of higher level robots. In this paper, we first formulate the basic model of multipoints whole body interaction between a robot manipulator and its object. We then study three control approaches by considering the limitations of force feedback, the complexity of control algorithms. As an example, we consider a 2-link planar manipulator that operates a circle object with dynamic arm friction. We show a computer simulation algorithm, and compare the results of each control methods, numerically.