A Path/Surface Following Control Approach to Generate Virtual Fixtures
| Autor: | Tobias Glück, Bernhard Bischof, Martin Böck, Andreas Kugi |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Flexibility (engineering)
0209 industrial biotechnology Computer science Control engineering 02 engineering and technology Workspace Human–robot interaction Computer Science::Other Computer Science Applications law.invention Computer Science::Robotics Industrial robot 020901 industrial engineering & automation Operator (computer programming) Control and Systems Engineering law Path (graph theory) 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Motion planning Electrical and Electronic Engineering |
| Zdroj: | IEEE Transactions on Robotics. 34:1577-1592 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2018.2861913 |
| Popis: | The workspace of a robot can be restricted by virtual fixtures to assist an operator in physical human–robot interaction tasks. This paper introduces a combination of surface following control (SFC) with compliance control and presents a path/SFC approach to systematically generate virtual fixtures. This approach allows implementation of numerous types of constraints like guidance and forbidden region virtual fixtures, hard and soft constraints, as well as static and dynamic virtual fixtures, and their combinations. Additionally, closed-loop stability proofs of the proposed control concepts are given. The flexibility of the presented approach is demonstrated by a series of measurement results from an industrial robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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