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Human-robot shared control system based on 3D point cloud and teleoperation

文献类型：期刊论文

作者Yang, ChenGuang1; Zhang, Ying1; Zhao, GuanYi1; Cheng, Long2
刊名SCIENCE CHINA-TECHNOLOGICAL SCIENCES
出版日期2023-04-24
页码9
关键词teleoperation 3D point cloud human-robot shared control hybrid force motion control
ISSN号1674-7321
DOI10.1007/s11431-022-2205-9
通讯作者Yang, ChenGuang(cyang@ieee.org)
英文摘要Owing to the constraints of unstructured environments, it is difficult to ensure safe, accurate, and smooth completion of tasks using autonomous robots. Moreover, for small-batch and customized tasks, autonomous operation requires path planning for each task, thus reducing efficiency. We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks. The system leverages the operator's skills and experience to deal with emergencies and perform online error correction. In this framework, a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation. The operator controls the manipulator trajectory through a teleoperation device. The force exerted by the manipulator on the object is automatically adjusted by the robot, thus reducing the workload for the operator and improving the efficiency of task execution. In addition, hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other. The proposed framework was validated using the ELITE robot to perform a force control scanning task.
资助项目National Natural Science Foundation of China (NSFC)[U20A20200] ; Guangdong Basic and Applied Basic Research Foundation[92148204] ; Industrial Key Technologies R&D Program of Foshan[2019B1515120076] ; Industrial Key Technologies R&D Program of Foshan[2020B1515120054] ; [2020001006308] ; [2020001006496]
WOS研究方向Engineering ; Materials Science
语种英语
WOS记录号WOS:000978233000005
出版者SCIENCE PRESS
资助机构National Natural Science Foundation of China (NSFC) ; Guangdong Basic and Applied Basic Research Foundation ; Industrial Key Technologies R&D Program of Foshan
源URL[http://ir.ia.ac.cn/handle/173211/53230]  
专题多模态人工智能系统全国重点实验室
通讯作者Yang, ChenGuang
作者单位1.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Yang, ChenGuang,Zhang, Ying,Zhao, GuanYi,et al. Human-robot shared control system based on 3D point cloud and teleoperation[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2023:9.
APA Yang, ChenGuang,Zhang, Ying,Zhao, GuanYi,&Cheng, Long.(2023).Human-robot shared control system based on 3D point cloud and teleoperation.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,9.
MLA Yang, ChenGuang,et al."Human-robot shared control system based on 3D point cloud and teleoperation".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2023):9.

入库方式： OAI收割

来源：自动化研究所

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