Application of Grey predictor in controlling 5 DOF power assistant robot
Application of Grey predictor in controlling 5 DOF power assistant robot
复制标题
灰色预测器在五自由度助力机器人控制中的应用
DOI：
--
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
K. Ahn
中科院分区：
文献类型：
--
作者：
Le Duy Khoa;Kim Cheon;K. Ahn
由于它们的高功率输出和可靠性，机器人可以在大多数与重负荷相关的现代工业任务中取代人类。然而，有些工作既需要人的灵活性，也需要机器人的力量。因此，需要将机器人手臂的强大力量与人类的灵巧性结合起来。为了满足这一需求，本文提出了一种动力辅助机器人系统（PAR）。该系统不仅可以应用于重工业作业，还可以应用于康复、军事、安保等各个领域。本研究的重点是在动力辅助机器人中应用一种称为电液系统（EHA）的新型执行器。EHA-PAR包括5个自由度（1个被动关节和4个主动关节），并通过一个4维智能操纵杆与用户交互。通过分析来自人的指令，人机界面为所有活动关节分配参考角度。然而，在某些位置，机器人操作却出现了奇点现象；从而影响到控制质量。本文将灰色预测器与传统的运动学求解方法相结合，提出了一种求解该问题的策略。应用该方法可以实现系统性能的改善。
Due to their high power output and reliability, robots can replace humans in most modern industrial tasks associated with heavy loads. However, there are some jobs that require both human flexibility and robot power. Consequently, there is a demand to combine the high power of a robot arm with the dexterity of a human. In this work, a robot system called the power assistant robot (PAR) is proposed to satisfy this demand. The system can be applied not only in heavy industrial tasks, but also in various fields such as rehabilitation, the military, and security. This research focuses on applying a new type of actuator, called an electro-hydraulic system (EHA), in a power assistant robot. The EHA-PAR includes 5 degrees of freedom (1 passive joint and 4 active joints) and interacts with the user through a 4-dimensional intelligent joystick. By analyzing commands from a human, the human-robot interface distributes reference angles for all active joints. However, in some positions, robot operation is suffered from singularity phenomenon; thus it affect to the control quality. This paper proposes a strategy for this problem by combining the Grey predictor and the conventional kinematic solving method. It can be realized that the performance of the system is ameliorated by applying the proposed method.