智能技术学报

文章详情

稿件标题: Unknown constrained mechanisms operation based on dynamic interactive control
稿件作者: Hesheng Wang, Bohan Yang, Weidong Chen
关键字词: Unknown constrained mechanism; Selection matrix; Constrained frame; Robot manipulator; Impedance control
文章摘要: In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame, and modifies the motion velocity online. Firstly, the constrained frame is determined online according to previous motion direction; then the selection matrix is adjusted dynamically, the constrained motion direction is chosen as the driving-axis. Consequently, the driving-axis and non-driving-axis are decoupled; finally, velocity control and impedance control are implied on above axes respectively. The selecting threshold for driving-axis is also varying dynamically to fit different constrained mechanism. Door-opening experiments are conducted to verify the performance of the proposed method.
收录刊物: 2016年1卷3期
稿件基金:
浏览次数: 252
下载次数: 71
点击下载