.png){kind=icon}
返回
Task Location for High Performance Human-Robot Collaboration
.png){kind=icon}
PRE
AI
DOI：10.1007/s10846-020-01181-5.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this paper, an approach for the evaluation of human-robot collaboration towards high performance is introduced and implemented. The human arm and the manipulator are modelled as a closed kinematic chain and the proposed task performance criterion is used based on the manipulability index of this chain. The selected task is a straight motion in which the robot end-effector is guided by the human operator via an admittance controller. The best location of the selected task is determined by the maximization of the minimal manipulability along the path. Evaluation criteria for the performance are adopted considering the ergonomics literature. In the experimental set-up with a KUKA LWR manipulator, multiple subjects repeat the specified motion to evaluate the introduced approach experimentally.
Keyword:
Manipulability index
Closed kinematic chain
Genetic algorithm
Human-robot cooperation
Ergonomics
Admittance controller
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
J
IF:
2.8
论文数:
3.9K
被引数:
6.9K
机构
引用论文
.png){kind=icon}
Anti‐Metalloprotease P‐I Single‐Domain Antibodies: Tools for Next‐Generation Snakebite Antivenoms
OAAI
OAAI分享收藏Update on the Diagnosis and Management of Tritrichomonas foetus Infections in Cats猫三毛滴虫感染诊断与治疗进展
PREAI
分享收藏Intestinal Tritrichomonas foetus infection in cats: a retrospective study of 104 cases猫肠道Tritrichomonas foetus感染：104例回顾性研究
OAAI
OAAI分享收藏
查看更多内容