J4 ›› 2012, Vol. 9 ›› Issue (4): 434-445.doi: 10.1016/S1672-6529(11)60136-4

• 论文 • 上一篇    下一篇

Human-like Manipulation Planning for Articulated Manipulator

Yahui Gan1,2, Xianzhong Dai1,2   

  1. 1. School of Automation, Southeast University, Nanjing 210096, P. R. China
    2. Key Lab of Measurement and Control of Complex Systems of Engineering, Ministry of Education,Nanjing 210096, P. R. China
  • 出版日期:2012-12-30
  • 通讯作者: Yahui Gan E-mail:ganyahui@yeah.net

Human-like Manipulation Planning for Articulated Manipulator

Yahui Gan1,2, Xianzhong Dai1,2   

  1. 1. School of Automation, Southeast University, Nanjing 210096, P. R. China
    2. Key Lab of Measurement and Control of Complex Systems of Engineering, Ministry of Education,Nanjing 210096, P. R. China
  • Online:2012-12-30
  • Contact: Yahui Gan E-mail:ganyahui@yeah.net

摘要:

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment (RULA) in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词: manipulation planning, human likeness, rapid upper limb assessment, applied ergonomics, task compatibility measurement, velocity transmission ratio

Abstract:

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment (RULA) in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

Key words: manipulation planning, human likeness, rapid upper limb assessment, applied ergonomics, task compatibility measurement, velocity transmission ratio