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Obstacle avoidance method of robot based on admittance control
Hu HS(胡红爽)1; Jiang Y(姜勇)2; Tan XW(谈晓伟)2
Department空间自动化技术研究室
Conference Name2018 IEEE International Conference on Information and Automation, ICIA 2018
Conference DateAugust 11-13, 2018
Conference PlaceWuyishan, China
Source PublicationProceeding of the 2018 IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlaceNew York
2018
Pages37-44
Indexed ByEI
EI Accession number20193807457696
Contribution Rank2
ISBN978-1-5386-8069-8
Keywordhuman-computer interaction Kinect admittance control obstacle avoidance singular point index
AbstractInstead 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25637
Collection空间自动化技术研究室
Corresponding AuthorHu HS(胡红爽)
Affiliation1.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, Liaoning Province, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Hu HS,Jiang Y,Tan XW. Obstacle avoidance method of robot based on admittance control[C]. New York:IEEE,2018:37-44.
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