...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Advanced Robotic Systems >Weight-Perception-Based Novel Control of a Power-Assist Robot for the Cooperative Lifting of Light-Weight Objects
【24h】

Weight-Perception-Based Novel Control of a Power-Assist Robot for the Cooperative Lifting of Light-Weight Objects

机译：基于重量感知的轻型物体协同提升动力辅助机器人的新型控制

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

摘要

We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations a...
机译：我们开发了一种1-DOF动力辅助机器人系统，用于两个人协同举升物体。我们假设惯性力引起的重量感知可能与动力辅助提升物体时的重力感知有所不同，因为感知的重量不同于实际重量。该系统是模拟的，两个人用它协同举起物体。我们分析了人类的特征，例如重量感知，负载力，运动等。我们发现机器人将感知重量降低到实际重量的25％，并且负载力比实际需求大8倍。过度的负载力会导致过度的加速度，从而损害性能。然后，我们基于人的特征实施了一种新颖的控制，这种控制使得当对象用机器人举起物体并且命令速度超过阈值时，虚拟质量从大值呈指数下降到小值。新颖的控制减少了过大的负载力和加速度，从而减轻了负载。

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