Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm
Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm
复制标题
利用环境支持接触来减少机器人手臂的操纵力
DOI：
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发表时间：
2019
期刊：
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通讯作者：
N. Tsagarakis
中科院分区：
文献类型：
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作者：
Cheng Fang;Navvab Kashiri;G. F. Rigano;A. Ajoudani;N. Tsagarakis
人类通常利用与环境约束的交互来帮助执行他们执行的人工操纵任务。一个特定的示例是在操纵期间探索接触以放松那些不直接参与操纵运动和力的生成的臂关节的负载，例如，建立与手肘关节的接触以减少上臂的努力，同时执行腕部水平操纵。我们将探索以下可能性：（a）积极利用环境进行非末端执行器支撑接触，以减少操纵任务期间的关节作用力。这是实现我们提出的控制方案与三级分层合规控制器。最高优先级任务被分配给阻抗控制，该阻抗控制在接触之前在支撑平面的法线方向上调节臂上的接触控制点处的相互作用，并且在建立接触之后切换到最佳接触力控制以用于最小化关节作用力。第二个优先任务是在平面的切线方向上的同一点处进行阻抗控制，以稳定接触。最后，设计了末端执行器的阻抗行为来处理操作任务所需的相互作用力。所提出的控制方案的有效性得到了证实的模拟和实验，其中显着的联合努力减少观察。
Humans commonly exploit interaction with the environment constraints to assist the execution of the locomanipulation tasks they perform. One particular example is the exploration of contacts during manipulation to relax the loading of those arm joints that are not directly involved in the generation of the manipulation motions and forces, e.g. establishing a contact with the elbow joint to reduce the effort of the upper arm while executing wrist level manipulation.In this paper, we shall explore the possibility of actively (a) utilizing the environment for a non-end-effector support contact towards reducing the joints efforts during manipulation tasks. This is achieved by our proposed control scheme with a three-level hierarchical compliance controller. The highest priority task is assigned to an impedance control that regulates the interaction at the contact control point on the arm in the normal direction of the support plane prior to contact, and is switched to an optimal contact force control for minimizing the joint effort after the contact is built. The second priority task is an impedance control at the same point in the tangential directions of the plane to stabilize the contact. In the end, an impedance behavior at the end-effector is designed to deal with the interaction forces required by the manipulation tasks. The efficacy of the proposed control scheme was corroborated by simulations and experiments, where significant joint effort reduction was observed.