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Adaptive virtual guides for compliance control skill teaching in partially known tasks
conference contribution
posted on 2023-06-10, 04:46 authored by Chenjian Song, Deqing Huang, Jingkang Xia, Yanan LiYanan LiCompliant manipulation is widely studied in the domain of robotics due to urgent industrial demands of flexible production. In many tasks that require human demonstration of the end-effector’s pose and contact force, cognitive and physical loads on human operators are high. Fortunately, virtual guides (VGs) can effectively assist human users to carry out the corresponding work. This article aims to design an adaptive virtual guides (AVGs) scheme for kinesthetic teaching that can be applied to surface finishing and to reduce human load. For this purpose, the end-effector’s orientation is automatically adjusted according to the workpiece’s 3D model and the end-effector’s position. The force provided by the robot along the end-effector’s z-axis is adjustable, which is used to reduce human’s control effort for contact force demonstration. Our method utilizes the virtual mass-damper system and joint admittance control model for the AVGs design, whose validity is verified on a Sawyer robot in simulation.
History
Publication status
- Published
File Version
- Accepted version
Journal
2022 IEEE 17th Conference on Industrial Electronics and Applications (ICIEA)ISSN
2158-2297Publisher
IEEEExternal DOI
Event name
The 17th IEEE Conference on Industrial Electronics and ApplicationsEvent location
Chengdu, ChinaEvent type
conferenceEvent date
17-20 July 2022ISBN
9781665409841Department affiliated with
- Engineering and Design Publications
Notes
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2022-09-20First Open Access (FOA) Date
2022-09-20First Compliant Deposit (FCD) Date
2022-09-20Usage metrics
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