Path Recognition and Virtual Guides Design for Path Following Based on Human-Robot Collaboration

被引：7
|
作者：
Song, Chenjian [1 ]
Xia, Jingkang [1 ]
Huang, Deqing [1 ]
Ma, Lei [1 ]
Li, Yanan [2 ]
机构：
[1] Southwest Jiaotong Univ, Sch Elect Engn, Chengdu 611756, Peoples R China
[2] Univ Sussex, Dept Engn & Design, Brighton BN1 9RH, England
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2023年 / 70卷 / 10期
基金：
中国国家自然科学基金;
关键词：
Robots; Task analysis; Robot kinematics; Robot sensing systems; Manipulator dynamics; Support vector machines; Laser beam cutting; Admittance control; human-robot collaboration (HRC); least squares (LS); support vector machine (SVM); virtual guides (VGs); GENERATION;
D O I：
10.1109/TIE.2022.3219102
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article presents a path recognition and virtual guides (VGs) design method for a task of path following based on human-robot collaboration. First, a support vector machine combined with least squares is developed to recognize the desired path based on human guidance. Second, VGs are designed based on the admittance control for human-robot collaborative path following, which combine the human's decision-making with the robot's accurate execution capability. The effectiveness and the robustness of the proposed method are verified on a 7-DOF Sawyer robot equipped with a force/torque sensor.
引用
收藏
页码：10374 / 10384
页数：11
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