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

页码：10374 / 10384

页数：11

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