A humanic controller for a maipulator arm via automatic skill acquisition from human experts

提出了一种讲授工人在执行特定任务中所获得的技能的方法，并设计了一种用于机械臂的人性化控制器。首先，熟练工人演示如何执行给定的任务，并测量其运动。利用曲线拟合技术，对工人的作用力和刀具的位移进行了分析，得出了两者之间的关系。所识别的关系被用作控制机械手手臂以复制专家运动的参考模型。识别人类专家用来握持磨削工具的阻抗，并将其传送到机器人控制器，以便系统可以遵循阻抗模型。其次，开发了一种从示教数据生成机器人位置/力混合控制程序的有效方法，该方法根据操作员所施加的力和末端执行器的位置来测量操作员的运动。然后将采集的数据分析到…更多地了解操作员打算做什么，并生成混合控制程序。确定在每个方向上应该采取哪种控制模式、位置或力，施加多大的力，以及末端执行器应该遵循什么轨迹。解释的运动然后被翻译成机器人语言，该语言明确地描述了人类操作员构思的运动策略。最后，开展了手法技能教学。从人类专家那里获得的教学数据在计算机上进行处理，以获得他熟练的操作策略。这些策略由一组将传感器信号与运动命令联系起来的控制松弛来描述。传感器信号通过模式识别技术进行处理，以解释传感器信息，并允许机器人识别过程的状态。控制律指定机器人应该对过程中产生的每个信号模式采取哪种控制行动。结果表明，该机器人能够模仿人类专家的熟练操作，有效地完成任务。较少

An approach to the teaching of skills that human workers have acquired in performing specific tasks is presented, and a humanic controller for a manipulator arm is designed.First, a skilled worker shows how to perform a given task, and his motions are measured. The force exerted by the worker and the displacement of the tool are analyzed and the relationship is derived from the data by using a curve fitting technique. The identified relationship is used as a reference model for controlling a manipulator arm to replicate the expert motion. The impedance with which a human expert holds the grinding tool is identified and transferred to the robot controller so that the system may follow the impedance model. Secondly, an efficient method is developed to generate programs for the hybrid position/force control of robots from teaching data.An operator's motion is measured in terms of the force exerted by the operator and the position of the end-effector. The acquired data are then analyzed to … More understand what the operator intended to do, and the hybrid control program is generated. Determinations are made of which control mode, position or force, should be taken in each direction, how much force should be exerted, and what trajectory the end-effector should follow. The interpreted motion is then translated into a robot language, which explicitly describes the motion strategy that the human operator conceived. Lastly, the teaching of manipulative skills is developed. Teaching data acquired from a human expert are processed on a computer to attain;his skillful manipulation strategies.The strategies are described by a group of control laxs that relate sensor signals to motion commands. Sensor signals are processed by using pattern recognition techniques to interpret sensor information and to allow the robot to recognize the state of the process.The control laws designate which control action the robot should take in response to each signal pattern generated in the process. It is demonstrated that the robot can mimic the skillful manipulation of the human expert and perform the task efficiently. Less