7-DoF Redundant Robot Manipulator with Multimodal Intuitive Teach and Play System
Date Issued
2014
Date
2014
Author(s)
Tsai, Yun-Hsuan
Abstract
In recent years, because of the increasing labor costs, requirement of industrial automation also increase. However, for the application in the production line with big variation, human still have more flexibility, intelligent, and efficiency than robot. The technological breakthrough needs robot more and more easy to use and with more and more autonomous intelligence capability. The former is a short-range goal can be achieved. Some methods of “teach by demonstration” have been proposed to increase easiness of usability. It means users direct contact with robot and pushing or pulling the robot to complete the action, then the robot can repeat the action of the demonstration. Many methods needs force sensor or joint torque sensor feedback.
Therefore, this thesis proposes and implements a 7-DoF redundant robot manipulator multimodal intuitive teaching functions, which have five teaching functions, and without force sensor. The five functions increase the utility and intuition of the teaching function, which include 1) guide with fixed orientation, 2) guide with fixed position, 3) guide with null space self-motion, 4) guide with linear motion constraint, and 5) guide with plane motion constraint. To implement this work, firstly, the kinematic analysis of the 7-DoF robot has been derived with a specific redundant parameter. Second, the necessary impedance control scheme is achieved and a method of the null space self-motion control based on the redundant parameter is proposed. Third, the intuitive teaching system and multimodal guidance are developed, the method combine the soft joint control, kinematic decoupling and redundant impedance control, and presented and integrated. Finally, experimental demonstration results for verifying the functionality of the developed system on our own 7-DoF robot manipulator are presented. Furthermore, an application demo “pick & place” is presented at last.
Subjects
七自由度機器手臂
冗餘機器手臂
逆運動學
軌跡產生器
阻抗控制
機器人直覺式教導
Type
thesis
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