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Unified Virtual Guides Framework for Path Tracking Tasks

Published online by Cambridge University Press:  26 July 2019

Leon Žlajpah  and
Tadej Petrič
Leon Žlajpah*
Affiliation:
Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia E-mail: tadej.petric@ijs.si
Tadej Petrič
Affiliation:
Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia E-mail: tadej.petric@ijs.si
*
*Corresponding author. E-mail: leon.zlajpah@ijs.si
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Summary

In this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.

Keywords

Human–robot cooperationAdmittance controlVirtual guidesRedundant robotsPath following
Type
Articles
Information
Robotica , Volume 38 , Special Issue 10: Human–Robot Interaction (HRI) , October 2020 , pp. 1807 - 1823
Copyright
© Cambridge University Press 2019

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