Proxy-based guidance virtual fixtures with orientation constraints: Proxy-based guidance virtual fixtures with orientation constraints: W. Hu et al.

被引：0
|
作者：
Hu, Weitao [1 ,2 ,3 ]
Pan, Xinan [1 ,2 ]
Wang, Hongguang [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang,110016, China
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang,110169, China
[3] University of Chinese Academy of Sciences, Beijing,100049, China
来源：
International Journal of Intelligent Robotics and Applications | 2024年 / 8卷 / 04期
关键词：
Aiming at the problem of defining the shortest distance between poses in traditional virtual fixtures; this paper proposes a proxy-based guidance virtual fixtures with orientation constraints; which can assist operators in the path following task. By designing the dynamics of the proxy and then connecting it to the robot using a spring-damping model; the end-effector position can be constrained within the pipeline and cone; and the stiffness coefficients of the virtual forces can be adjusted linearly or nonlinearly. To overcome the cumulative errors; we then propose a discretized improved algorithm; which applies the virtual fixtures on a discretized reference curve. Furthermore; the orientation constraints are defined; and hence the end-effector orientation can also be constrained within a specific range to comply with ergonomics. An experiment was conducted using a Franka Emika Panda robot and involving 9 subjects. The results show that compared to the gravity compensation mode; the pipeline virtual fixtures and the virtual fixtures with the pipeline and cone; as proposed in this paper; reduced task completion time by 38% and 44.7%; respectively; Additionally; they reduced the total mental burden obtained from NASA-TLX by 29.96% and 47.42%; respectively. © The Author(s); under exclusive licence to Springer Nature Singapore Pte Ltd. 2024;
D O I：
10.1007/s41315-024-00371-w
中图分类号：
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页码：889 / 899
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