Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot
	Wan MH(宛敏红); Zhang HW(张会文); Fu ML(付明亮)
	2016
会议日期	August 27-28, 2016
会议地点	Hangzhou, China
关键词	Humanoid Robot Visual Target Tracking Redundant Mechanism Virtual Link Damped Factor
页码	156-159
英文摘要	Visual target tracking is one of the main functions that interacting with the environment for the humanoid robot, and it is also an important embodiment of anthropomorphism and human likeness. In order to achieve dexterous and precise visual target tracking task, a kind of humanoid robot head mechanism which is similar to the human head is presented. By using of the modeling method of virtual link, the control task of robot gaze at target is converted to the inverse kinematic solution of a 4DOF RRRP manipulator, and the solution is obtained based on the damped least-squares method. In order to make the manipulator avoid the singularity and joint limit synchronously, a new method for calculating the damping factor is proposed. On the basis of the traditional damping factor which is mainly used to hinder the manipulator close to the singular configuration, the damping factor that hinders the manipulator close to the joint limit is also proposed, and the total damping factor is composed of the two parts. Simulation and analysis show that the redundant visual tracking mechanism can track a moving target stably and precisely.
产权排序	1
会议录	2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC 2016)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2157-8982
ISBN号	978-1-5090-0769-1
WOS记录号	WOS:000391330900037
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19523]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Wan MH(宛敏红)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China 2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式 GB/T 7714	Wan MH,Zhang HW,Fu ML. Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot[C]. 见:. Hangzhou, China. August 27-28, 2016.