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Data-Driven Remote Center of Cyclic Motion Control for Redundant Robots With Rod-Shaped End-Effector
Liu, Mei1,2; Liu, Kun1; Zhu, Puchen2; Zhang, Guoqian1; Ma, Xin2; Shang, Mingsheng3
2024-01-24
摘要Remote center of motion (RCM) has become a rising research direction in the field of robotics. It means that a robot with a rod-shaped end-effector operates through a tiny hole on the surface. Thereinto, a key issue is the deviation of the RCM point's position, apart from the operating accuracy. In addition, considering that an RCM robotic system generally consists of a commercial robot and a specialized rod-shaped end-effector, there exist some errors in the structural information related to the attached end-effector. In this article, a remote center of cyclic motion scheme with a data-driven technology is proposed to control robots, of which end-effectors' structural parameters are inaccurate. Meanwhile, a recurrent neural network is proposed to figure out the scheme's solution, with the relevant theoretical analysis given. Furthermore, simulative and physical experiments on a FRANKA Panda robot with a rod-shaped end-effector are conducted to validate the control scheme's effectiveness distinctly.
关键词Robots End effectors Robot kinematics Kinematics Recurrent neural networks Jacobian matrices Task analysis Data driven end-effector recurrent neural network (RNN) redundant robot remote center of motion (RCM)
DOI10.1109/TII.2024.3353930
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
页码9
通讯作者Ma, Xin(xinma001@cuhk.edu.hk) ; Shang, Mingsheng(msshang@cigit.ac.cn)
收录类别SCI
WOS记录号WOS:001166883500001
语种en