通过扩展微分同胚实现多机器人空间差异下的实时动作复刻
Extended Diffeomorphism for Real-Time Motion Replication in Workspaces with Different Spatial Arrangements
- 基于预设关键点设计两种空间映射方法
- 实验显示映射误差低且运动平滑度高
- 适合需要多机器人协同的工业场景
本文提出两种扩展微分同胚设计，用于补偿不同机器人工作空间间的空间布局差异。多机器人遥操作正受到关注，以提升机器人本体的利用率。实时复刻机器人动作可高效完成相似任务。运动复刻的主要挑战在于目标关键点在工作空间中的位置偏差补偿。本文提出一种基于各工作空间预设关键点的平滑映射方法，将主机器人姿态转换为从机器人姿态。通过双臂UR5机器人抓取任务实验验证，所提映射生成方法能在保证低映射误差（精确操作）和低映射梯度（平滑复制运动）之间取得平衡。
原文摘要 · Abstract (English)
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot embodiment. Real-time reproduction of robot motion would facilitate the efficient execution of similar tasks by multiple robots. A challenge in the motion reproduction is compensating for the spatial arrangement errors of target keypoints in robot workspaces. This paper proposes a methodology for smooth mappings that transform primary robot poses into follower robot poses based on the predefined key points in each workspace. Through a picking task experiment using a dual-arm UR5 robot, this study demonstrates that the proposed mapping generation method can balance lower mapping errors for precise operation and lower mapping gradients for smooth replicated movement.
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