论文标题
传感器可观察性索引：评估机器人操纵器中任务空间可观察性的传感器对齐方式
Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators
论文作者
论文摘要
在本文中，我们提出了对传感器可观察性索引新颖概念的初步定义和分析。目的是分析和评估分布式定向或基于轴向传感器的性能，以观察任务空间中的特定轴，这是串行机器人操纵器中关节配置的函数。例如，连接扭矩传感器通常用于串行机器人操纵器中，并被认为完全能够估算末端效应力，但是由于关节扭矩传感器如何对齐，某些关节构型可能会导致一个或多个任务空间轴无法观察到。提出的传感器可观察性提供了一种分析当前机器人配置质量以观察任务空间的方法。在串行机器人操纵器中特定的关节扭矩传感器的特定情况下，传感器可观察性和传统运动学雅各比式绘制了相似之处。尽管可以从串行操纵器中的雅各布转置的运动学分析中检索类似的信息，但在分析非关节安装的传感器和其他传感器类型方面，传感器可观察性被证明更为普遍。此外，对雅各布转置的零空间分析易于虚假观察性奇异性。使用机器人百特的模拟和实验证明了在物理相互作用中保持适当的传感器可观察性的重要性。
In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific axes in task space as a function of joint configuration in serial robot manipulators. For example, joint torque sensors are often used in serial robot manipulators and assumed to be perfectly capable of estimating end effector forces, but certain joint configurations may cause one or more task-space axes to be unobservable as a result of how the joint torque sensors are aligned. The proposed sensor observability provides a method to analyse the quality of the current robot configuration to observe the task space. Parallels are drawn between sensor observability and the traditional kinematic Jacobian for the particular case of joint torque sensors in serial robot manipulators. Although similar information can be retrieved from kinematic analysis of the Jacobian transpose in serial manipulators, sensor observability is shown to be more generalizable in terms of analysing non-joint-mounted sensors and other sensor types. In addition, null-space analysis of the Jacobian transpose is susceptible to false observability singularities. Simulations and experiments using the robot Baxter demonstrate the importance of maintaining proper sensor observability in physical interactions.
