Obstacle avoidance method of robot based on admittance control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Obstacle avoidance method of robot based on admittance control
	Hu HS(胡红爽)2; Tan XW(谈晓伟)1; Jiang Y(姜勇)1
	2018
会议日期	August 11-13, 2018
会议地点	Wuyishan, China
关键词	human-computer interaction Kinect admittance control obstacle avoidance singular point index
页码	37-44
英文摘要	Instead of traditional ranging radar and camera, Kinect was used to ensure the robot can avoid obstacles in the process of movement. And an obstacle avoidance method of robot was proposed based on admittance control. The relative distance between the robot and human hand was real-time measured by Kinect sensor and converted into a virtual force, acting as an input of the admittance controller to control the next moment speed of the controller to avoid obstacles. Then a modification algorithm for the robot's speed direction was added on the basis of admittance control, when the operator's arm is moving at a high speed, to control the robot's avoid obstacles urgently. At the same time, a method of singular transition to the joint space was proposed to solve the problem that once the robot encountering strange points in Cartesian space it will out of control. Finally, a physical experiment platform based on Kinect sensor and UR robot was set up to conduct dynamic and static obstacle avoidance experiments. The results verified the effectiveness of the proposed method.
产权排序	2
会议录	Proceeding of the 2018 IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-8069-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25637]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Hu HS(胡红爽)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China 2.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, Liaoning Province, China
推荐引用方式 GB/T 7714	Hu HS,Tan XW,Jiang Y. Obstacle avoidance method of robot based on admittance control[C]. 见:. Wuyishan, China. August 11-13, 2018.