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...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.展开更多
基金This work was supported in part by the National Natural Science Foundation of China under Grant 61473191, 61503245, 61221003, in part by the Science and Technology Commission of Shanghai Municipality under Grant 15111104802, in part by State Key Laboratory of Robotics and System （HIT）.
文摘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.
