Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6853620 | CAAI Transactions on Intelligence Technology | 2016 | 13 Pages |
Abstract
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.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Hesheng Wang, Bohan Yang, Weidong Chen,