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Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot
Wan MH(宛敏红); Zhang HW(张会文); Fu ML(付明亮); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
会议名称2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC 2016)
会议日期August 27-28, 2016
会议地点Hangzhou, China
会议录名称2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC 2016)
出版者IEEE
出版地New York
2016
页码156-159
收录类别EI ; CPCI(ISTP)
EI收录号20170403289023
WOS记录号WOS:000391330900037
产权排序1
ISSN号2157-8982
ISBN号978-1-5090-0769-1
关键词Humanoid Robot Visual Target Tracking Redundant Mechanism Virtual Link Damped Factor
摘要Visual target tracking is one of the main functions that interacting with the environment for the humanoid robot, and it is also an important embodiment of anthropomorphism and human likeness. In order to achieve dexterous and precise visual target tracking task, a kind of humanoid robot head mechanism which is similar to the human head is presented. By using of the modeling method of virtual link, the control task of robot gaze at target is converted to the inverse kinematic solution of a 4DOF RRRP manipulator, and the solution is obtained based on the damped least-squares method. In order to make the manipulator avoid the singularity and joint limit synchronously, a new method for calculating the damping factor is proposed. On the basis of the traditional damping factor which is mainly used to hinder the manipulator close to the singular configuration, the damping factor that hinders the manipulator close to the joint limit is also proposed, and the total damping factor is composed of the two parts. Simulation and analysis show that the redundant visual tracking mechanism can track a moving target stably and precisely.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19523
专题空间自动化技术研究室
通讯作者Wan MH(宛敏红)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Wan MH,Zhang HW,Fu ML,et al. Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot[C]. New York:IEEE,2016:156-159.
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