Towards Valve Turning Using a Six-Parallel-Legged Robot
Valve turning task for robot is essential and significant in industry manipulation and disaster rescue.In related researches,basically use multi-DOF manipulators installed on humanoid robots to perform the valve turning task.The focus of this paper is a six-parallel-legged robot using a 0-DOF tool to manipulate the valve.The manipulation model includes four primitives(Reach,Insert,Rotate and Disengage),and the valve is located by vision and force sensors.In addition,the user-guided manipulation is integrated to assist the robot to locate the valve.By contacting the valve at different positions,the robot can monitor the data of the valve and accordingly plan trajectories in real-time.
Valve turning Six-parallel-legged robot Trajectory plan
Yinan Zhao Feng Gao
State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China
国内会议
北京
英文
133-141
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）