基于力传感器的机器人变导纳控制人机交互策略

为了实现物理人机交互中手术机器人的姿态柔顺调整,该文提出了一种基于变导纳的机器人控制方案.人机交互操作必须对操作者非常直观,其主要难点在于感知周围的环境与人类的意图,并对它们做出充分、直观和安全的反应.为提高系统的直观性,该文提出的变导纳控制策略是基于力/力矩传感器来推断操作者意图,通过结合UR5机器人进行相关实验来验证该算法的性能.结果表明:基于变导纳的机器人控制方案能够满足人机交互操作中对姿态柔顺调整的需求.

The Human-Robot Interaction Strategy of Robot Variable Admittance Control Based on Force Sensor

In order to realize the flexibility and adjustment of the posture of surgical robot in the physical human-robot interaction,a control scheme based on variable admittance is proposed.Human-robot interaction should be very intuitive to the operator.It is particularly difficult in perceiving the surrounding environment and human intentions.However,the interaction should be adequate,intuitive and safe.In order to improve the system's intuitiveness,the variable admittance control proposed is based on force/torque sensor to infer the operator's intention,and the performance of this algorithm is verified by relevant experiments combined with UR5 robot.The results show that the robot control scheme based on variable admittance can meet the requirements of flexible attitude adjustment in human-robot interaction.