[1]周朝政,叶 震,谢 叻*.基于力传感器的机器人变导纳控制人机交互策略[J].江西师范大学学报(自然科学版),2020,(03):221-225+234.[doi:10.16357/j.cnki.issn1000-5862.2020.03.01]
　ZHOU Chaozheng,YE Zhen,XIE Le*.The Human-Robot Interaction Strategy of Robot Variable Admittance Control Based on Force Sensor[J].Journal of Jiangxi Normal University:Natural Science Edition,2020,(03):221-225+234.[doi:10.16357/j.cnki.issn1000-5862.2020.03.01]
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基于力传感器的机器人变导纳控制人机交互策略()
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《江西师范大学学报》（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2020年03期
页码:
221-225+234
栏目:
虚拟现实研究
出版日期:
2020-06-10

文章信息/Info

Title:
The Human-Robot Interaction Strategy of Robot Variable Admittance Control Based on Force Sensor
文章编号:
1000-5862(2020)03-0221-05
作者:
周朝政1; 叶 震1; 谢 叻2*
1.上海电气集团股份有限公司中央研究院,上海 200070; 2.上海交通大学国家数字化制造技术中心,上海 200030
Author(s):
ZHOU Chaozheng1; YE Zhen1; XIE Le2*
1.Shanghai Electric Central Research Institute,Shanghai 200070,China; 2.National Digital Manufacturing Technology Center,Shanghai Jiao Tong University,Shanghai 200030,China
关键词:
人机交互;  手术机器人;  导纳控制;  算法
Keywords:
human-robot interaction;  surgical robots;  admittance control;  algorithm
分类号:
R 764.9; TP 391.41
DOI:
10.16357/j.cnki.issn1000-5862.2020.03.01
文献标志码:
A
摘要:
为了实现物理人机交互中手术机器人的姿态柔顺调整,该文提出了一种基于变导纳的机器人控制方案.人机交互操作必须对操作者非常直观,其主要难点在于感知周围的环境与人类的意图,并对它们做出充分、直观和安全的反应.为提高系统的直观性,该文提出的变导纳控制策略是基于力/力矩传感器来推断操作者意图,通过结合UR5机器人进行相关实验来验证该算法的性能.结果表明:基于变导纳的机器人控制方案能够满足人机交互操作中对姿态柔顺调整的需求.
Abstract:
In order to realize the flexibility and adjustment of the posture of surgical robot in the physical human-robot interaction,a control scheme based on variable admittance is proposed.Human-robot interaction should be very intuitive to the operator.It is particularly difficult in perceiving the surrounding environment and human intentions.However,the interaction should be adequate,intuitive and safe.In order to improve the system's intuitiveness,the variable admittance control proposed is based on force/torque sensor to infer the operator's intention,and the performance of this algorithm is verified by relevant experiments combined with UR5 robot.The results show that the robot control scheme based on variable admittance can meet the requirements of flexible attitude adjustment in human-robot interaction.

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备注/Memo

备注/Memo:
收稿日期:2019-06-20
基金项目:福建省科技计划引导性(2018H0032),泉州市科技计划(2018Z028),上海市科委科技支撑(17441903800),上海市科技创新行动计划(18441909000),国家自然科学基金(61672341,61973211,51911540479),上海交通大学“医工(理)交叉研究基金”(YG2017ZD03),上海交通大学医疗机器人研究院和国家重点研发计划(2017YFB1302900)资助项目.
通信作者:谢 叻(1964-),男,江西南昌人,教授,博士,博士生导师,闽江学者讲座教授,主要从事医疗机器人技术、虚拟现实技术和数字化制造技术的研究.E-mail:Lexie@sjtu.edu.cn
更新日期/Last Update: 2020-06-10