Abstract
Virtual guides are used in human-robot cooperation to support a human performing manipulation tasks. They can act as guidance constrains to assist the user to move in the preferred direction or along desired path, or as forbidden-region constraint which prevent him to move into restricted region of the robot workspace. In this paper we proposed a novel framework that unifies virtual guides using virtual robot approach, which is represented with the admittance control, where a broad class of virtual guides and constraints can be implemented. The dynamic properties and the constraints of the virtual robot can be defined using three sets of parameters and variables: desired motion variables, dynamic parameters (stiffness, damping and inertia) and dead-zones. To validate the approach we implemented it on a KUKA LWR robot for the Buzz-Wire tasks, where the goal is to move a ring along a curved wire.
This work was supported by EU Horizon 2020 Programme grant 680431, ReconCell, and Slovenian Research Agency grant P2-0076.
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Notes
- 1.
With subscript \((.)_d\) we denote the desired value of the variable.
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Žlajpah, L., Petrič, T. (2019). Virtual Guides for Redundant Robots Using Admittance Control for Path Tracking Tasks. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_2
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