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Unified Virtual Guides Framework for Path Tracking Tasks
| Content Provider | Scilit |
|---|---|
| Author | Žlajpah, Leon Petrič, Tadej |
| Copyright Year | 2019 |
| Description | 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. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6903A87530132F2D9CBF842AFBF9B88A/S0263574719000973a.pdf/div-class-title-unified-virtual-guides-framework-for-path-tracking-tasks-div.pdf |
| Ending Page | 1823 |
| Page Count | 17 |
| Starting Page | 1807 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574719000973 |
| Journal | Robotica |
| Issue Number | 10 |
| Volume Number | 38 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2020-10-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Cybernetical Science Human–robot Cooperation Admittance Control Virtual Guides Redundant Robots Path Following |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
