文章基本信息

标题：Optimization of Link Length Fitting between an Operator and a Robot with Digital Annealer for a Leader-Follower Operation
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作者：Takuya Otani ; Atsuo Takanishi ; Makoto Nakamura 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2022
卷号：11
期号：1
页码：12
DOI：10.3390/robotics11010012
语种：English
出版社：MDPI Publishing
摘要：In recent years, the teleoperation of robots has become widespread in practical use. However, in some current modes of robot operation, such as leader-follower control, the operator must use visual information to recognize the physical deviation between him/herself and the robot, and correct the operation instructions sequentially, which limits movement speed and places a heavy burden on the operator. In this study, we propose a leader-follower control parameter optimization method for the feedforward correction necessitated by deviations in the link length between the robot and the operator. To optimize the parameters, we used the Digital Annealer developed by Fujitsu Ltd., which can solve the combinatorial optimization problem at high speed. The main objective was to minimize the difference between the hand coordinates target and the actual hand position of the robot. In simulations, the proposed method decreased the difference between the hand position of the robot and the target. Moreover, this method enables optimum operation, in part by eliminating the need for the operator to maintain an unreasonable posture, as in some robots the operator’s hand position is unsuitable for achieving the objective.
关键词：robot;teleoperation;optimization;quantum annealing;Digital Annealer