通过虚拟跳跃惯性扩大人类力量.
概括
这项研究增强了机器人手臂控制器,以在非结构化任务中实现更安全的人机交互. 虚拟质量控制器可以提高稳定性和强度放大,这对于协作机器人 (cobots) 来说至关重要.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 控制理论 控制理论
背景情况:
- 机器人可以通过力量控制来协助人类完成非结构化任务,特别是协作机器人 (cobots) 和外骨架.
- 由于控制带宽有限和合的人机器人动态,直接的力量反可能会导致不稳定.
- 现有的控制器平衡强度放大与稳定性,经常损害系统的透明度.
研究的目的:
- 将基于虚拟质量的控制器扩展到强度放大机器人手臂.
- 在理论和实验上证明虚拟质量术语的增强稳定性.
- 为了更好地了解人类机械阻抗,识别机器人终端效应器合规性和自偏移转移功能.
主要方法:
- 将基于虚拟质量的外骨控制器扩展到机器人手臂.
- 稳定性属性的理论分析和实验验证.
- 识别机器人端效应器转移功能的识别和测量弹盒装置的刚度.
主要成果:
- 虚拟质量术语显著提高了强度放大机器人手臂的稳定性.
- 该研究成功地确定了机器人的终端效应器合规性和自我偏移转移功能.
- 机器人证明了弹箱装置刚度的可靠测量.
结论:
- 基于虚拟质量的控制增强了人机交互的稳定性,使得强度放大更安全,更有效.
- 了解机器人端效应器动态是改善人类机器人系统阻抗识别的关键.
- 这项研究有助于开发更加透明和稳定的协作机器人.
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