• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International Conference on Advances in Construction Machinery and Vehicle Engineering >Motion Visualization and Human-Robot Shared Control for Robotic Excavators
【24h】

Motion Visualization and Human-Robot Shared Control for Robotic Excavators

机译：动作可视化和人机机器人共享控制机器人挖掘机

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

When a robotic excavator is controlled by a human operator, it must comply with the intention of the operator. Besides, it must meet the safety and operational quality of construction indicators. Coordinating the relationship between the active decision of the operator and the accurate control of the machine system is the key issue of this paper. Flexible virtual fixtures are proposed to control trajectory of the robotic excavator, the input signal of the restricted motion direction is weakened by introducing the flexibility coefficient kτ. In this way, a human-robot shared control system for the robotic excavator is built. Trajectories are designed to validate the performances of the flexible virtual fixtures, and experiments are performed on the trajectory control and motion visualization system which is built based on virtual instrument. The results show that the flexible virtual fixtures reduce the tracking errors and the operator can avoid the obstacle on the trajectory.
机译：当机器人挖掘机由人类操作员控制时，它必须符合操作员的意图。此外，它必须符合建筑指标的安全性和运营质量。协调操作员的积极决定与机器系统的准确控制之间的关系是本文的关键问题。建议灵活的虚拟滤器来控制机器人挖掘机的轨迹，通过引入柔性系数kτ来削弱限制运动方向的输入信号。以这种方式，建立了用于机器人挖掘机的人机共享控制系统。轨迹旨在验证灵活虚拟灯具的性能，并对基于虚拟仪器构建的轨迹控制和运动可视化系统进行实验。结果表明，柔性虚拟灯具减少了跟踪误差，操作员可以避免轨迹上的障碍物。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号