利用环境接触和传感器反馈实现机器人操纵的精确性

IF 3.4 3区综合性期刊 Q2 CHEMISTRY, ANALYTICAL Sensors Pub Date : 2024-10-31 DOI:10.3390/s24217006

Jan Šifrer, Tadej Petrič

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引用次数: 0

摘要

本文研究了利用机器人结构与环境之间的物理接触来提高任务性能的方法，主要重点是提高精度。本文研究了两种主要方法：解决逆运动学问题和采用二次编程，后者通过利用正向运动学提高计算效率。此外，还探讨了简化机器人装配和降低控制计算复杂性的几何方法。这些方法在物理机器人平台上实施，并在实时应用中进行评估，以评估其有效性。通过实验评估，本研究旨在了解如何利用环境接触来提高各种条件下的性能，从而为机器人技术的实际应用提供有价值的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation.

This paper investigates methods that leverage physical contact between a robot's structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.

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来源期刊

Sensors 工程技术-电化学

CiteScore

7.30

自引率

12.80%

发文量

8430

审稿时长

1.7 months

期刊介绍： Sensors (ISSN 1424-8220) provides an advanced forum for the science and technology of sensors and biosensors. It publishes reviews (including comprehensive reviews on the complete sensors products), regular research papers and short notes. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.