Realization of spatial compliant virtual fixture using eigenscrews

Virtual fixture is kind of assistance mechanism to limit movement into restricted regions and/or guide movement along desired trajectories in human-machine interactive operation. The structure of geometric and dynamic constraints of reference tasks is analyzed using screw theory. End-effector and the reference frame are elastically coupled by virtual screw springs, which slides along the reference sequences. An allowable motion screw set is constructed, from which the desired spatial compliance and stiffness matrices are synthesized from an allowable motion screw set. The presented virtual fixture are implemented dynamic contour tracking experiment, the effects of control parameters on system performance are also analyzed. The proposed virtual fixtures unites rotation and translation motions, and filter out task-unrelated components from the manual input while augmenting task-related components.

[1]  Gregory D. Hager,et al.  Steady-hand teleoperation with virtual fixtures , 2003, The 12th IEEE International Workshop on Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003..

[2]  Russell H. Taylor,et al.  Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy , 2007, IEEE Transactions on Robotics.

[3]  R. Ball.  A treatise on the theory of screws, by Sir Robert Stawell Ball. , .

[4]  Harvey Lipkin,et al.  A Classification of Robot Compliance , 1993 .

[5]  E D Fasse,et al.  Application of screw theory to lumped-parameter modelling of elastically coupled rigid bodies , 2002 .

[6]  Gregory D. Hager,et al.  Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[7]  Hideo Fujimoto,et al.  A Control Framework to Generate Nonenergy-Storing Virtual Fixtures: Use of Simulated Plasticity , 2008, IEEE Transactions on Robotics.

[8]  Shuguang Huang,et al.  The eigenscrew decomposition of spatial stiffness matrices , 2000, IEEE Trans. Robotics Autom..

[9]  Russell H. Taylor,et al.  Constrained control for surgical assistant robots , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  J. D. Everett.  A Treatise on the Theory of Screws , 1901, Nature.

[11]  Shuguang Huang,et al.  The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel , 1998, IEEE Trans. Robotics Autom..