Path Recognition and Virtual Guides Design for Path Following Based on Human–Robot Collaboration
نویسندگان
چکیده
This paper presents a path recognition and virtual guides (VGs) design method for task of following based on human-robot collaboration (HRC). Firstly, support vector machine (SVM) combined with least squares (LS) is developed to recognize the desired human guidance. Secondly, VGs are designed admittance control collaborative following, which combine human's decision-making robot's accurate execution capability. The effectiveness robustness proposed verified 7-DOF Sawyer robot equipped force/torque sensor.
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ژورنال
عنوان ژورنال: IEEE Transactions on Industrial Electronics
سال: 2023
ISSN: ['1557-9948', '0278-0046']
DOI: https://doi.org/10.1109/tie.2022.3219102