Synchronization-based control for a collaborative robot
| Autor: | Yoshikatsu Hayashi, Henry Eberle, Slawomir J. Nasuto |
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| Rok vydání: | 2020 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology collaborative robotics Computer science Control (management) 02 engineering and technology Dynamical system anticipating synchronization coupled oscillators Task (project management) 03 medical and health sciences Engineering 020901 industrial engineering & automation 0302 clinical medicine Control theory Synchronization (computer science) lcsh:Science computer.programming_language Multidisciplinary Control engineering time delay Integrator Robot lcsh:Q synchronization computer 030217 neurology & neurosurgery Research Article |
| Zdroj: | Royal Society Open Science Royal Society Open Science, Vol 7, Iss 12 (2020) |
| ISSN: | 2054-5703 |
| DOI: | 10.1098/rsos.201267 |
| Popis: | This article introduces a new control scheme for controlling a robotic manipulator in a collaborative task, allowing it to respond proactively to its partner’s movements. Unlike conventional robotic systems, humans can operate in an unstructured, dynamic environment due to their ability to anticipate changes before they occur and react accordingly. Recreating this artificially by using a forward model would lead to the huge computational task of simulating a world full of complex nonlinear dynamics and autonomous human agents. In this study, a controller based on anticipating synchronization, where a ‘leader’ dynamical system is predicted by a coupled ‘follower’ with delayed self-feedback, is used to modify a robot’s dynamical behaviour to follow that of a series of leaky integrators and harmonic oscillators. This allows the robot (follower) to be coupled with a collaborative partner (leader) to anticipate its movements, without a complete model of its behaviour. This is tested by tasking a simulated Baxter robot with performing a collaborative manual coordination task with an autonomous partner under a range of feedback delay conditions, confirming its ability to anticipate using oscillators instead of a detailed forward model. |
| Databáze: | OpenAIRE |
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