洪 鹰^{1, 2}，匡加伦^{1, 2}，肖聚亮^{1, 2}，王云鹏^{1, 2}，赵 炜^{1, 2}，王 健^{1, 2}，张阳阳^{1, 2}，孙誉博^{1, 2}
AuthorsHTML:洪 鹰^{1, 2}，匡加伦^{1, 2}，肖聚亮^{1, 2}，王云鹏^{1, 2}，赵 炜^{1, 2}，王 健^{1, 2}，张阳阳^{1, 2}，孙誉博^{1, 2}
AuthorsListE:\rHong Ying ^{1, 2}，Kuang Jialun ^{1, 2}，Xiao Juliang ^{1, 2}，Wang Yunpeng ^{1, 2}，Zhao Wei ^{1, 2}，Wang Jian ^{1, 2}，Zhang Yangyang ^{1, 2}，Sun Yubo ^{1, 2}\r
AuthorsHTMLE:\rHong Ying ^{1, 2}，Kuang Jialun ^{1, 2}，Xiao Juliang ^{1, 2}，Wang Yunpeng ^{1, 2}，Zhao Wei ^{1, 2}，Wang Jian ^{1, 2}，Zhang Yangyang ^{1, 2}，Sun Yubo ^{1, 2}\r
Unit:1. 天津大学机械工程学院，天津 300350；
2. 天津大学机构理论与装备设计教育部重点实验室，天津 300350
Unit_EngLish:1. School of Mechanical Engineering，Tianjin University，Tianjin 300350，China；
2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education，Tianjin University，Tianjin 300350，China
Abstract_Chinese:现今实际的制造生产工作给机器人的交互性和协作性提出了越来越高的要求，传统的基于机器人示教器控制的交互技术已经越来越难以满足这些需求．为此，提出了一种新型的引导控制技术，采用了基于力/力矩识别的手持导航器，并开发出了可以实现快、慢速控制相互转换的引导控制模式．首先，对导航器的原始数据进行读取和解析，获得其自身的坐标系，建立和机器人的映射关系，并通过标定得出其输出数据与所受力/力矩之间的定量关系．其次，为减少操控过程中操作者的生理抖动和噪声的影响，引入卡尔曼滤波来对其状态进行最优估计．然后，为实现多控制模式的转换，建立变导纳控制模型，通过最小二乘法获得交互力的变化率，从而确定人机交互过程中的导纳参数，进而选取符合操作者意图的控制模式．最后，通过实验有效地验证了该方法在人机交互应用中具备较高的可行性和通用性．
Abstract_English:Manufacturing has created stricter requirements for the interaction and cooperation of robots，which have been difficult for traditional robot interaction technologies to meet．In this paper，a new guide control technology is proposed that uses a handheld navigator based on force/torque recognition，and a guide control mode that realizes the conversion of fast and slow control was developed．The original data of the navigator was read and analyzed，its own coordinate system obtained，the mapping relationship with the robot established，and the quantitative relationship between the output data and the force/torque was obtained by calibration．Then，to reduce the influence of physiological jitter and noise of the operators in the process of manipulation，Kalman filter was introduced to optimize the state of operators．To realize the transformation of the multi-control mode，the variable admittance control model was established．The change rate of the interaction force was obtained using least square method，the admittance parameters in the process of the human-robot interaction were determined，and then the control mode in accordance with the operator’s intention was selected．Finally，the feasibility and universality of the method in a human-robot interaction application was experimentally verified．
Keyword_Chinese:手持导航器；协作机器人；变导纳控制模型；引导控制
Keywords_English:handheld navigator；cooperative robot；variable admittance control model；guide control

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