对一个以武力为基础的操纵控制的机器人手进行比较的Peg-in-Hole测试
Karl Van Wyk1, Mark Culleton2, Joe Falco1
1National Institute of Standards and Technology, Gaithersburg, MD 20899 USA.
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
|April 12, 2024
概括
这项研究引入了用于机器人精细操纵的新型钉入孔测试. 一个新的机器人手控制器与传统的抓手相比,表现出更高的性能,减少了错误和力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 制造业自动化 制造业自动化
- 控制系统 控制系统
背景情况:
- 基于力量的操纵对于机器人精细组装任务至关重要.
- 需要系统的性能比较来推进机器人操纵.
- 钉入洞任务是精细操纵的标准基准.
研究的目的:
- 开发一个标准化的入孔测试方法,使用性能指标.
- 演示一个新的操纵控制器与机器人手用于入洞任务.
- 使用开发的测试,对机器人插入策略进行基准测试.
主要方法:
- 创建了一个带有性能指标和数据分析的钉入洞测试台.
- 实施并测试了一种新型符合规范的机器人手控制器.
- 与符合标准的手/硬臂系统与符合标准的硬抓手/硬臂系统进行比较.
主要成果:
- 这种新型机器人手系统与抓手系统的性能相匹配或超过.
- 活跃控制的姿势可以降低位置错误的敏感性.
- 在手系统中观察到最小化的插入力.
结论:
- 开发的钉入洞测试使得系统的机器人操纵基准测试成为可能.
- 具有主动控制的机器人手为复杂的插入任务提供了可行的解决方案.
- 高度关节和传感的手是先进机器人操纵的关键.
相关概念视频
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