Reaction Vector Generation using Intuitive Teaching and Reactive Playing for 7-DoF Redundant Manipulator
Date Issued
2014
Date
2014
Author(s)
Ko, Meng-Chu
Abstract
With the advancement of technology, robots will gradually come into our daily life. In the scenario of human-robot collaboration (HRC), robots would most likely share the same workspace with human beings when dealing with service and industrial tasks, such as tasks in assembly line, laboratory, or home environment. However, it cannot be denied that the closer robot and human are, the more safety issues would rise. On the other hand, robots sometimes need to be re-programmed on-the-task to tackle untrained works, which is one of the major challenge in this topic. Thus, in this thesis, we propose an intu-itive-teaching and reactive-replaying system for a 7-DoF redundant robot manipulator, and elucidate the case of spherical–revolute- spherical (S-R-S) type manipulator.
To begin with, in intuitive-teaching phase, the multimodal intuitive teaching is achieved by decoupling control scheme, and the taught waypoints are set as target points (Goal) of replaying phase. Secondly, in reactive-replaying phase, the reaction vector generator (RVG) is advised to generate repulsive and attractive vector for obsta-cle avoidance and goal approach in dynamic environment. Furthermore, the vec-tor-based online trajectory generator (vOTG) is provided to smooth jerky commands from RVG. As a result, the robot can repeat tasks taught in teaching phase, and achieve active whole-arm collision avoidance between targets in replaying phase. Experimental results with NTU-iCeiRA 7-DoF arm developed in our lab and Kinect depth sensor are presented.
Subjects
7自由度冗餘機械手臂
線上軌跡產生器
教導和重現
避障
Type
thesis
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