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首页> 外文会议>International conference on mechatronics technology >Inverse Kinematic Analysis for 7-DOF Redundant Power Assistant Robot Control
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Inverse Kinematic Analysis for 7-DOF Redundant Power Assistant Robot Control

机译：7自由度冗余动力辅助机器人控制的逆运动学分析

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Power assistant robot is an intelligent system which allows the closely cooperating between human and machine.Attaching with workers as an exoskeleton,it strengthens them by operating harmoniously with given desired commands.The most concerned problem for the system is how to deal with the interaction between human and intelligent manipulator so that the operating tasks could be done in the most dexterous and flexible way.To realize this purpose,our paper focuses in analytical methodology of inverse kinematic computation which is the key point in controlling 7-DOF redundant power assistant manipulators.A multi axes load cell is then employed as the main component for human machine interaction (HMI) structure.It is located at the robot end effector so that user could easily give the command to the manipulator.After getting the desired motion controls through the load cell,a redundant inverse kinematic solution is then proposed to convert these commands into the reference signals for the elemental joints of the manipulator and generate the motion of the robot.Lastly,some simulations are carried out to verify the validity of the proposed method.It is realized that by applying this strategy,the posture of robot end effector tracks the desired trajectory given by the host.
机译：助力机器人是一个智能系统，可以使人与机器紧密协作。作为工人的外骨骼，它通过按给定的所需命令进行协调操作来增强工人的力量。系统最关心的问题是如何处理人与人之间的交互作用为了实现这一目的，本文着重研究逆运动学的分析方法，这是控制7自由度冗余动力辅助机械手的关键。然后将多轴称重传感器用作人机交互（HMI）结构的主要组件，该传感器位于机器人末端执行器上，以便用户可以轻松地将命令传递给机械手。单元，然后提出冗余的逆运动学解决方案，将这些命令转换为参考信号最后，进行了一些仿真实验，验证了该方法的有效性。认识到，通过应用该策略，机器人末端执行器的姿态可以跟踪机器人给出的期望轨迹。主人。

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