[1]JIANG Tongwei,JIANG Yong.Human-machine cooperative object grasping method based on virtual force guidance[J].CAAI Transactions on Intelligent Systems,2021,16(4):683-689.[doi:10.11992/tis.202007046]
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Human-machine cooperative object grasping method based on virtual force guidance
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
16
Number of periods:
2021 4
Page number:
683-689
Column:
学术论文—机器感知与模式识别
Public date:
2021-07-05
- Title:
- Human-machine cooperative object grasping method based on virtual force guidance
- Keywords:
- virtual force guidance; force feedback; motion constraints; obstacle avoidance; object grasping; master-slave control; teleoperation; human-machine collaboration
- CLC:
- TP242.2
- DOI:
- 10.11992/tis.202007046
- Abstract:
- The traditional artificial potential field method in force feedback teleoperation cannot adapt to the overall obstacle avoidance of manipulators, and operators find it difficult to control manipulators to reach the required pose in the operation process. Accordingly, this paper proposes a human-machine cooperative object grasping method based on virtual force guidance. Force feedback devices provide operators with haptic interaction. By combining the artificial potential field method and virtual fixture and by constructing a pipe-like virtual force field, the real-time virtual force guidance is generated, which can assist operators in completing the overall obstacle avoidance tasks of slave robots and guide robots to return to the predefined path and approach the target point after completing their tasks. When a grasping task is performed, a virtual cone-shaped force field is constructed to help operators make manipulators reach the target position and pose. In addition, a method of limiting robot motion is proposed to reduce the impact of operators’ errors on their grasping tasks. Experimental results show that this method can effectively improve the success rate and efficiency of object grasping operation.
- References:
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