With the spread of major respiratory infectious diseases such as the new coronavirus pneumonia on a large scale worldwide, various countries and regions have taken medical supplies such as disposable medical masks (DMMs, mainly composed of a large variety of polymer material polypropylene PP). The demand is constantly rising. A large number of discarded masks are mixed in the streets and alleys, and the recycling process is extremely risky. In this era, it is particularly important to realize manual remote control of the collection of discarded masks. The waste mask collection robot mentioned in this article adopts a modular design method and carries out the system design, control system design, and hardware structure design for each part of the waste mask collection. In terms of the hardware system, a detailed analysis has been made on the chip model and the specifications of each application device and a reasonable design have been carried out. The design requirements of various parts are introduced, and their structure and function in the device are described in detail. Related hardware circuits are designed, such as the manipulator motor drive circuit and its control circuit. In terms of the software system, the driver program, the function program of the host computer, and the STM32 single-chip microcomputer, such as PWM motor driver and serial port communication, are designed. In terms of control system design, based on the Robot-link Wi-Fi wireless data transmission module, a set of information interaction codes between the host computer and the STM32 single-chip microcomputer is designed, which can realize ultra-low delay control. The PWM motor drive and serial communication were tested for the function. After the program was burned, the expected function was completed, and the actual product was finally assembled and tested to achieve the expected function.
随着新型冠状病毒肺炎等重大呼吸道传染病在全球范围内大规模传播，各国和地区纷纷采取一次性医用口罩（DMM，主要由多种聚合物材料聚丙烯PP组成）等医疗用品。需求不断增加。大街小巷混杂着大量废弃口罩，回收过程风险极大。在这个时代，实现废弃口罩收集的手动远程控制尤为重要。本文提到的垃圾口罩收集机器人采用模块化设计方法，对垃圾口罩收集的各个部分进行了系统设计、控制系统设计和硬件结构设计。在硬件系统方面，对芯片型号和各应用设备的规格进行了详细的分析，并进行了合理的设计。介绍了各部件的设计要求，并详细描述了它们在装置中的结构和功能。设计了相关的硬件电路，如机械手电机驱动电路及其控制电路。在软件系统方面，设计了驱动程序、上位机功能程序以及STM32单片机，如PWM电机驱动程序和串口通信程序。在控制系统设计方面，基于Robot link Wi-Fi无线数据传输模块，设计了一套主机与STM32单片机之间的信息交互代码，可以实现超低延迟控制。对PWM电机驱动和串行通信的功能进行了测试。程序烧录后，完成了预期的功能，最终组装并测试了实际产品，以实现预期的功能。
{"title":"Wasted mask collection robot","authors":"Yihan Zhao, Yuecheng Wang, Hong Jiang","doi":"10.12688/cobot.17512.1","DOIUrl":"https://doi.org/10.12688/cobot.17512.1","url":null,"abstract":"With the spread of major respiratory infectious diseases such as the new coronavirus pneumonia on a large scale worldwide, various countries and regions have taken medical supplies such as disposable medical masks (DMMs, mainly composed of a large variety of polymer material polypropylene PP). The demand is constantly rising. A large number of discarded masks are mixed in the streets and alleys, and the recycling process is extremely risky. In this era, it is particularly important to realize manual remote control of the collection of discarded masks. The waste mask collection robot mentioned in this article adopts a modular design method and carries out the system design, control system design, and hardware structure design for each part of the waste mask collection. In terms of the hardware system, a detailed analysis has been made on the chip model and the specifications of each application device and a reasonable design have been carried out. The design requirements of various parts are introduced, and their structure and function in the device are described in detail. Related hardware circuits are designed, such as the manipulator motor drive circuit and its control circuit. In terms of the software system, the driver program, the function program of the host computer, and the STM32 single-chip microcomputer, such as PWM motor driver and serial port communication, are designed. In terms of control system design, based on the Robot-link Wi-Fi wireless data transmission module, a set of information interaction codes between the host computer and the STM32 single-chip microcomputer is designed, which can realize ultra-low delay control. The PWM motor drive and serial communication were tested for the function. After the program was burned, the expected function was completed, and the actual product was finally assembled and tested to achieve the expected function.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45003824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Background: A cooperative robot is a robot requested to co-work with humans efficiently and safely in an environment with flexible arrangements. Safe path planning is a crucial issue which must be resolved during human-robot cooperation. In this paper, we present a safe path planning system that could plan the manipulation path in real-time based on the environmental changes and guarantees safety when the robot interacts with the environment and humans. Methods: In this system, we first build a real-time obstacle Octomap from the environment RGB-D (red green blue-depth) images, which can effectively differentiate the robot from other obstacles in the environment and eliminate the robots influence during the map building. And then, we adopt the rapidly exploring random trees-Connect method to plan the safe path in the Octomap. When the planning path is obstructed by the dynamic objects, the system will re-plan the new safe path based on the changed Octomap. Results: The experimental results show that our system can effectively avoid obstacles in a dynamic environment and safely reach the manipulation destination. Conclusions: We propose a real-time safe path planning system for cooperative robots, which can guarantee the safety of manipulation.
{"title":"A real-time safe path planning system for cooperative robots","authors":"Yan He, Tao Lu, Yinghao Cai","doi":"10.12688/cobot.17505.1","DOIUrl":"https://doi.org/10.12688/cobot.17505.1","url":null,"abstract":"Background: A cooperative robot is a robot requested to co-work with humans efficiently and safely in an environment with flexible arrangements. Safe path planning is a crucial issue which must be resolved during human-robot cooperation. In this paper, we present a safe path planning system that could plan the manipulation path in real-time based on the environmental changes and guarantees safety when the robot interacts with the environment and humans. Methods: In this system, we first build a real-time obstacle Octomap from the environment RGB-D (red green blue-depth) images, which can effectively differentiate the robot from other obstacles in the environment and eliminate the robots influence during the map building. And then, we adopt the rapidly exploring random trees-Connect method to plan the safe path in the Octomap. When the planning path is obstructed by the dynamic objects, the system will re-plan the new safe path based on the changed Octomap. Results: The experimental results show that our system can effectively avoid obstacles in a dynamic environment and safely reach the manipulation destination. Conclusions: We propose a real-time safe path planning system for cooperative robots, which can guarantee the safety of manipulation.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44611434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Background: In recent years, with the gradual development of robot human-computer interaction, robots need to meet the precise control of more complex motion. Torque sensors play an important role. The traditional strain gauge sensor uses a metal strain gauge as the sensitive element, which means that the sensor has a slow response, low resolution and can easily be affected by external signal noise. Aiming at these deficiencies of strain gauge sensors, a sensor with cutting quartz square sheet as the sensor head is proposed. Methods: In order to study the application of quartz square sensing head in the sensor, firstly, COMSOL (5.6) simulation modeling is used to obtain the stress relationship between square quartz sheet and circular quartz sheet. Then the calculation formula of the force frequency coefficient of the circular quartz sheet is modified to obtain the calculation formula of the force frequency coefficient of the square quartz sheet, and the feasibility of the formula is verified by practical experiments. Next, the theoretical simulation and experimental research on the buckling limit force of quartz wafer are carried out, and the formula of buckling limit force in the process of quartz wafer installation is modified. Finally, the designed sensitive head is installed on the elastomer structure for verification. The frequency signal is collected by SGS-THOMSON Microelectronics 32 with a sampling rate of 1000Hz. Results: The main performances of the sensor are range 150nm, sensitivity 350Hz / nm, linearity 98.14%, hysteresis 0.51%, repeatability 98.44%, resolution 0.02%. Conclusions: As the sensitive unit of the torque sensor, the designed quartz wafer can obtain high response time and high resolution, solve the problems of low resolution and slow response time of the traditional strain gauge torque sensor, and reduce the use cost of the sensor.
{"title":"Quartz crystal based sensor head design and analysis for robot torque sensor application","authors":"Hao Fu, Chin-Yin Chen, Chongchong Wang, MinChiang Chao, Qiang Zhou, Guilin Yang, Guozhi Wang","doi":"10.12688/cobot.17474.1","DOIUrl":"https://doi.org/10.12688/cobot.17474.1","url":null,"abstract":"Background: In recent years, with the gradual development of robot human-computer interaction, robots need to meet the precise control of more complex motion. Torque sensors play an important role. The traditional strain gauge sensor uses a metal strain gauge as the sensitive element, which means that the sensor has a slow response, low resolution and can easily be affected by external signal noise. Aiming at these deficiencies of strain gauge sensors, a sensor with cutting quartz square sheet as the sensor head is proposed. Methods: In order to study the application of quartz square sensing head in the sensor, firstly, COMSOL (5.6) simulation modeling is used to obtain the stress relationship between square quartz sheet and circular quartz sheet. Then the calculation formula of the force frequency coefficient of the circular quartz sheet is modified to obtain the calculation formula of the force frequency coefficient of the square quartz sheet, and the feasibility of the formula is verified by practical experiments. Next, the theoretical simulation and experimental research on the buckling limit force of quartz wafer are carried out, and the formula of buckling limit force in the process of quartz wafer installation is modified. Finally, the designed sensitive head is installed on the elastomer structure for verification. The frequency signal is collected by SGS-THOMSON Microelectronics 32 with a sampling rate of 1000Hz. Results: The main performances of the sensor are range 150nm, sensitivity 350Hz / nm, linearity 98.14%, hysteresis 0.51%, repeatability 98.44%, resolution 0.02%. Conclusions: As the sensitive unit of the torque sensor, the designed quartz wafer can obtain high response time and high resolution, solve the problems of low resolution and slow response time of the traditional strain gauge torque sensor, and reduce the use cost of the sensor.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42492432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the motion planning of a dual-arm robot with kinematic constraints is studied based on arm-angle constraints. When a dual-arm robot moves a common object, a closed kinematic chain is formed between the dual-arm and the object. The standard sampling-based trajectory planning algorithm solves the problem with closed-chain constraint, but this causes other problems; the running time increases, the success rate decreases, and the motion trajectory of the end effector is not smooth resulting in large output error. Therefore, this paper proposes a dual-arm coordinated trajectory optimization algorithm based on arm-angle constraints. Firstly, the kinematics of the dual-arm robot is modeled and analyzed, and the definition of the arm-angle in a seven-axis robot is proposed, the workspace of the dual-arm coordinated operation is considered to constrain it, the kinematics equation combined with the single/multi-objective optimization algorithm is used to optimize the end output error, and the joint trajectory is parameterized. This paper solves the problems that the slave arm lags behind the main arm, the motion trajectory of the dual-arm is not smooth, and the dual-arm are squeezed due to internal force during the coordinated movement of the dual-arm. The trajectory optimization improves the synchronization of the coordinated operation of the dual-arm, reduces the output error of the velocity and acceleration at the end of the dual-arm. After limiting the arm-angle, dual-arm manipulation is anthropomorphic the robot does not produce distorted arm configurations.
{"title":"An algorithm for trajectory optimization of dual-arm coordination based on arm angle constraints","authors":"Qi Wang, Huasong Min, Yixuan Guo","doi":"10.12688/cobot.17470.1","DOIUrl":"https://doi.org/10.12688/cobot.17470.1","url":null,"abstract":"In this paper, the motion planning of a dual-arm robot with kinematic constraints is studied based on arm-angle constraints. When a dual-arm robot moves a common object, a closed kinematic chain is formed between the dual-arm and the object. The standard sampling-based trajectory planning algorithm solves the problem with closed-chain constraint, but this causes other problems; the running time increases, the success rate decreases, and the motion trajectory of the end effector is not smooth resulting in large output error. Therefore, this paper proposes a dual-arm coordinated trajectory optimization algorithm based on arm-angle constraints. Firstly, the kinematics of the dual-arm robot is modeled and analyzed, and the definition of the arm-angle in a seven-axis robot is proposed, the workspace of the dual-arm coordinated operation is considered to constrain it, the kinematics equation combined with the single/multi-objective optimization algorithm is used to optimize the end output error, and the joint trajectory is parameterized. This paper solves the problems that the slave arm lags behind the main arm, the motion trajectory of the dual-arm is not smooth, and the dual-arm are squeezed due to internal force during the coordinated movement of the dual-arm. The trajectory optimization improves the synchronization of the coordinated operation of the dual-arm, reduces the output error of the velocity and acceleration at the end of the dual-arm. After limiting the arm-angle, dual-arm manipulation is anthropomorphic the robot does not produce distorted arm configurations.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46548113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ya Chen, Jiaheng Yang, Dianjun Wang, Haoxiang Zhong, Xingkang Zheng, Qianyang Liu
Background: In view of the poor working environment and high labor intensity of manual loading and unloading in the production process of small forgings, a modular 6-DOF (degrees of freedom) light-weight cooperative handling robot is designed. Combined with the computer-aided design method, the modular and lightweight design is realized through the simulation of the actual motion situation. Methods: The overall configuration and modular joints of the robot were designed, and the static characteristics analysis of the whole robot and key parts was performed using Ansys to verify the rationality of the structural design. The kinematics model of the robot was established by using the Denavit-Hartenberg parameter method and the workspace of the robot was solved by forward kinematics simulation. Performance testing of the experimental prototype was executed. The repeated positioning accuracy was analyzed by a laser tracker to measure the position information at the end of the robot. Results: The results show that the repetitive positioning accuracy of the robot is 0.09mm, which can meet the requirements of loading and unloading handling in forging production. Conclusions: The study provides a theoretical basis for the structure design and optimization of the light-weight cooperative robot.
{"title":"Design and implementation of modular 6-degrees of freedom light-weight cooperative handling robot","authors":"Ya Chen, Jiaheng Yang, Dianjun Wang, Haoxiang Zhong, Xingkang Zheng, Qianyang Liu","doi":"10.12688/cobot.17442.1","DOIUrl":"https://doi.org/10.12688/cobot.17442.1","url":null,"abstract":"Background: In view of the poor working environment and high labor intensity of manual loading and unloading in the production process of small forgings, a modular 6-DOF (degrees of freedom) light-weight cooperative handling robot is designed. Combined with the computer-aided design method, the modular and lightweight design is realized through the simulation of the actual motion situation. Methods: The overall configuration and modular joints of the robot were designed, and the static characteristics analysis of the whole robot and key parts was performed using Ansys to verify the rationality of the structural design. The kinematics model of the robot was established by using the Denavit-Hartenberg parameter method and the workspace of the robot was solved by forward kinematics simulation. Performance testing of the experimental prototype was executed. The repeated positioning accuracy was analyzed by a laser tracker to measure the position information at the end of the robot. Results: The results show that the repetitive positioning accuracy of the robot is 0.09mm, which can meet the requirements of loading and unloading handling in forging production. Conclusions: The study provides a theoretical basis for the structure design and optimization of the light-weight cooperative robot.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42322454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Background: The unstructured environment, the different geometric shapes of objects, and the uncertainty of sensor noise have brought many challenges to robotic grasping. PointNetGPD (Grasp Pose Detection) which was published in 2019 proposes a point cloud-based grasping pose detection method, which detects reliable grasping poses from the point cloud, and provides an effective process to generate and evaluate grasping poses. However, PointNetGPD uses the point cloud inside the parallel-gripper and the network only uses three channels of information when classifying grasping poses. Methods: In order to improve the accuracy of grasping pose classification, the concept of grasping confidence region was proposed in this paper, which shows the hotspot area of the object can be grasped successfully, and there will be higher success rate when performing grasping in this area. Based on the concept of grasping confidence regions, the grasping dataset in PointNetGPD is improved, which can provide richer information to the classification network. Using our dataset, we trained a scoring network that can score the point cloud collected by the depth camera. We added this scoring network to the classification network of PointNetGPD, and carried out the experiment of grasping poses classification. Results: The experimental results show that the classification accuracy increases by 4% after calculating the score channel on the original dataset; the classification accuracy increases by nearly 1% after using the trained scoring network to score the original dataset. Conclusions: The concept of positive grasp center area is proposed in this paper. Based on this concept, we improve the dataset in PointNetGPD, and use this dataset to train a scoring network to add the score information to the point cloud. The experiments show that our proposed method can effectively improve the accuracy of grasping poses classification network.
{"title":"An efficient pose classification method for robotic grasping","authors":"Wenlong Ji, Yunhan Lin, Huasong Min","doi":"10.12688/cobot.17440.1","DOIUrl":"https://doi.org/10.12688/cobot.17440.1","url":null,"abstract":"Background: The unstructured environment, the different geometric shapes of objects, and the uncertainty of sensor noise have brought many challenges to robotic grasping. PointNetGPD (Grasp Pose Detection) which was published in 2019 proposes a point cloud-based grasping pose detection method, which detects reliable grasping poses from the point cloud, and provides an effective process to generate and evaluate grasping poses. However, PointNetGPD uses the point cloud inside the parallel-gripper and the network only uses three channels of information when classifying grasping poses. Methods: In order to improve the accuracy of grasping pose classification, the concept of grasping confidence region was proposed in this paper, which shows the hotspot area of the object can be grasped successfully, and there will be higher success rate when performing grasping in this area. Based on the concept of grasping confidence regions, the grasping dataset in PointNetGPD is improved, which can provide richer information to the classification network. Using our dataset, we trained a scoring network that can score the point cloud collected by the depth camera. We added this scoring network to the classification network of PointNetGPD, and carried out the experiment of grasping poses classification. Results: The experimental results show that the classification accuracy increases by 4% after calculating the score channel on the original dataset; the classification accuracy increases by nearly 1% after using the trained scoring network to score the original dataset. Conclusions: The concept of positive grasp center area is proposed in this paper. Based on this concept, we improve the dataset in PointNetGPD, and use this dataset to train a scoring network to add the score information to the point cloud. The experiments show that our proposed method can effectively improve the accuracy of grasping poses classification network.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43297011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yueguang Ge, Shaolin Zhang, Yinghao Cai, Tao Lu, Dayong Wen, Haitao Wang, Zekai Zheng, Shuo Wang
Background: A robot needs to acquire the location of objects when performing daily tasks. Compared to industrial robots, a service robot faces a more complex and unstructured working environment where the location of the target object is usually uncertain. For example, due to diversity in personal habits and seasons, apples may be located in refrigerators, tables, or other places in the living environment. Methods: We propose a novel method for semantic localization of the robot-operated object based on probabilistic ontologies (PR-OWL) and multi-entity Bayesian networks (MEBN). The probabilistic web ontology language is used to describe and model the highly uncertain knowledge about the storage location of objects in the human household environment. Furthermore, the target location is inferred based on the multi-entity Bayesian network. Results: The proposed method is capable to adapting to environmental changes and achieves reliable probability estimation of object location. Experiments on simulated robotic tasks verify the effectiveness of the method. Conclusions: We show that applying PR-OWL combined with MEBN to locate the target object for the robot is feasible， which can improve the cognitive and self-adaptive ability of the robot.
{"title":"Reasoning about location of robot-operated object based on probabilistic ontologies","authors":"Yueguang Ge, Shaolin Zhang, Yinghao Cai, Tao Lu, Dayong Wen, Haitao Wang, Zekai Zheng, Shuo Wang","doi":"10.12688/cobot.17432.1","DOIUrl":"https://doi.org/10.12688/cobot.17432.1","url":null,"abstract":"Background: A robot needs to acquire the location of objects when performing daily tasks. Compared to industrial robots, a service robot faces a more complex and unstructured working environment where the location of the target object is usually uncertain. For example, due to diversity in personal habits and seasons, apples may be located in refrigerators, tables, or other places in the living environment. Methods: We propose a novel method for semantic localization of the robot-operated object based on probabilistic ontologies (PR-OWL) and multi-entity Bayesian networks (MEBN). The probabilistic web ontology language is used to describe and model the highly uncertain knowledge about the storage location of objects in the human household environment. Furthermore, the target location is inferred based on the multi-entity Bayesian network. Results: The proposed method is capable to adapting to environmental changes and achieves reliable probability estimation of object location. Experiments on simulated robotic tasks verify the effectiveness of the method. Conclusions: We show that applying PR-OWL combined with MEBN to locate the target object for the robot is feasible， which can improve the cognitive and self-adaptive ability of the robot.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42741752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wenhui Huang, Huasong Min, Yixuan Guo, Mingxin Liu
Due to the important role of the manipulator dynamic model in manipulation control, the identification of the dynamic parameters of manipulators has become a research hotspot once again. In this paper, we present an overview of the modeling of manipulator dynamics, the optimization methods of excitation trajectory, the identification methods for dynamic parameters, and the identification of friction model parameters. First, the process and basic methods of identification of manipulation dynamic parameters are summarized, and the optimization methods for excitation trajectory are analyzed in detail. Further, friction model parameter identification and the physical feasibility of dynamic parameters are discussed. These are research hotspots associated with the identification of dynamic parameters of manipulators. The backgrounds and solutions of the problems of physical feasibility and identification of friction parameters are reviewed in this paper. Finally, neural networks and deep learning methods are discussed. The neural networks and deep learning methods have been used to improve the accuracy of identification. However, deep learning methods and neural networks need more in-depth analysis and experiments. At present, the instrumental variable method with complete physical feasibility constraints is an optimal choice for dynamic parameter identification. Moreover, this review aims to present the important theoretical foundations and research hotspots for the identification of manipulation dynamic parameters and help researchers determine future research areas.
{"title":"A review of dynamic parameters identification for manipulator control","authors":"Wenhui Huang, Huasong Min, Yixuan Guo, Mingxin Liu","doi":"10.12688/cobot.17444.1","DOIUrl":"https://doi.org/10.12688/cobot.17444.1","url":null,"abstract":"Due to the important role of the manipulator dynamic model in manipulation control, the identification of the dynamic parameters of manipulators has become a research hotspot once again. In this paper, we present an overview of the modeling of manipulator dynamics, the optimization methods of excitation trajectory, the identification methods for dynamic parameters, and the identification of friction model parameters. First, the process and basic methods of identification of manipulation dynamic parameters are summarized, and the optimization methods for excitation trajectory are analyzed in detail. Further, friction model parameter identification and the physical feasibility of dynamic parameters are discussed. These are research hotspots associated with the identification of dynamic parameters of manipulators. The backgrounds and solutions of the problems of physical feasibility and identification of friction parameters are reviewed in this paper. Finally, neural networks and deep learning methods are discussed. The neural networks and deep learning methods have been used to improve the accuracy of identification. However, deep learning methods and neural networks need more in-depth analysis and experiments. At present, the instrumental variable method with complete physical feasibility constraints is an optimal choice for dynamic parameter identification. Moreover, this review aims to present the important theoretical foundations and research hotspots for the identification of manipulation dynamic parameters and help researchers determine future research areas.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42801007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.
{"title":"Development of dual-arm mobile robot platform based on ROS","authors":"R. Xu, Lu Qian, Xingwei Zhao","doi":"10.12688/cobot.17457.1","DOIUrl":"https://doi.org/10.12688/cobot.17457.1","url":null,"abstract":"Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44584329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pengbo Li, Can Wang, Bailin He, Jiaqing Liu, Xinyu Wu
Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.
{"title":"Kinematics analysis and gait planning for a hemiplegic exoskeleton robot","authors":"Pengbo Li, Can Wang, Bailin He, Jiaqing Liu, Xinyu Wu","doi":"10.12688/cobot.17434.1","DOIUrl":"https://doi.org/10.12688/cobot.17434.1","url":null,"abstract":"Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44462500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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