中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Coordinated Motion Planning of Independent Manipulators in Precision Manipulation

文献类型:期刊论文

作者Xing, Dengpeng1,2; Liu, Fangfang1,2; Xu, De1,2
刊名IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
出版日期2020-11-01
卷号16期号:11页码:6933-6942
关键词Manipulators Force Estimation Task analysis Planning Robot kinematics Coordinated operation independent movement planning intention estimation
ISSN号1551-3203
DOI10.1109/TII.2020.2973716
英文摘要

This article investigates the coordinated motion planning of independent manipulators in the domain of precision manipulation, where forces are considered in the level of tens or hundreds of milliNewtons. Independent manipulating is crucial in randomly combining robot arms to temporarily fulfill certain tasks. We study the cases where a part of task information is known to each manipulator and yet no communication exists between them. In the coordinated structure, the leading manipulator plans its movement according to the desired state and its evaluation of the object force. The follower needs to compensate for the offset errors, estimate the intention of the leader, evaluate its confidence on the estimation, and plan its movement accordingly. The handling of special states, i.e., zero force feedback, is also discussed. Experiments are carried out to demonstrate the validation of the proposed method.

WOS关键词ROBOT ; SYSTEMS
资助项目National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004]
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
语种英语
WOS记录号WOS:000554904700019
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Nature Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/40298]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Liu, Fangfang
作者单位1.Univ Chinese Acad Sci, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Xing, Dengpeng,Liu, Fangfang,Xu, De. Coordinated Motion Planning of Independent Manipulators in Precision Manipulation[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(11):6933-6942.
APA Xing, Dengpeng,Liu, Fangfang,&Xu, De.(2020).Coordinated Motion Planning of Independent Manipulators in Precision Manipulation.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(11),6933-6942.
MLA Xing, Dengpeng,et al."Coordinated Motion Planning of Independent Manipulators in Precision Manipulation".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.11(2020):6933-6942.

入库方式: OAI收割

来源:自动化研究所

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