Coordinated Motion Planning of Independent Manipulators in Precision Manipulation | |
Xing, Dengpeng1,2; Liu, Fangfang1,2; Xu, De1,2 | |
刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS |
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 |
DOI | 10.1109/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. |
资助项目 | National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004] |
WOS关键词 | ROBOT ; SYSTEMS |
WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
语种 | 英语 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS记录号 | WOS:000554904700019 |
资助机构 | National Nature Science Foundation of China |
内容类型 | 期刊论文 |
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. |
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