Intuitive kinematic control of a robot arm via human motion

Hsien I. Lin*, Yu Cheng Liu, Yu Hsiang Lin

*此作品的通信作者

研究成果: Conference article同行評審

12 引文 斯高帕斯(Scopus)

摘要

Intuitive kinematic control of a redundant robot arm to track a specified end-effector trajectory is achieved via haptic devices or homogenous robots with the same degrees of freedom (DOFs) and similar mechanical structures. To improve intuitive control, this work proposes a novel method to control directly by human motion the kinematics of a redundant robot arm such that the robot is teleoperated to avoid obstacles and track a given end-effector trajectory using a gesture resembling as human's. This work proposes a kinematic control with an augmented multi-tasking method to solve the local-solution and divergence problems of previous multitasking methods when human motion is applied. Computer simulations with a redundant robot arm is used to validate the proposed kinematic-control method. The proposed method enables a redundant robot arm to track a specified end-effector trajectory using a gesture which closely resembles human motion.

原文English
頁(從 - 到)411-416
頁數6
期刊Procedia Engineering
79
DOIs
出版狀態Published - 2014
事件37th National Conference on Theoretical and Applied Mechanics, NCTAM 2013, Conjoined with the 1st International Conference on Mechanics, ICM 2013 - Hsinchu, Taiwan
持續時間: 8 11月 20139 11月 2013

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