Dynamic Virtual Fixtures Based on Path Following Control
| Autor: | Bernhard Bischof, Andreas Kugi |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Path following 020208 electrical & electronic engineering Frame (networking) Control (management) 02 engineering and technology law.invention Industrial robot 020901 industrial engineering & automation Control and Systems Engineering Control theory law Path (graph theory) 0202 electrical engineering electronic engineering information engineering Feedback linearization |
| Zdroj: | IFAC-PapersOnLine. 52:424-429 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2019.11.817 |
| Popis: | This paper presents a path following control (PFC) approach to generate guidance virtual fixtures with dynamic constraints (time-varying constraints) for physical human-robot interaction tasks. Using input-output feedback linearization and a parallel transport frame, the system dynamics are linearized and decomposed into tangential and orthogonal direction with respect to a time-varying path, which is parametrized as a regular threefold continuously differentiable curve. The presented PFC approach is combined with compliance control, which enables the systematic generation of virtual fixtures. An experiment on a six-axis industrial robot reveals the potential of this approach to generate virtual fixtures with dynamic constraints. |
| Databáze: | OpenAIRE |
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