Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536192
He Zhao, Wenzeng Zhang, Weiguo Li
This paper proposes an electronic trigger assisted coupled and self-adaptive finger, LPCA finger. LPCA finger is provided with two joints, two motors, two sensors and a control module, which realizes coupling during the startup phase of grabbing and self-adaptive in the next stage. According to its self-adaptive characteristics, the device can grasp the target of uncertain size and type. The pressure sensor is used to collect the information of the object contacted by the phalanges, and the second motor can be triggered to cooperate with the assistance of self-adaptive grasping with only a small extrusion pressure to avoid the damage caused by excessive extrusion pressure on the object caused by the proximal phalange in the grasping process. The finger end grasping force is large and the structure is simple. This paper introduces the design of LPCA finger, and gives the force analysis of finger. Force analysis and experiments indicate that LPCA finger possess coupled and self-adaptive function and its end grasping is stable.
{"title":"Design of the Self-adaptive Robot Finger Triggered by Light Pression with Cooperative Assistant","authors":"He Zhao, Wenzeng Zhang, Weiguo Li","doi":"10.1109/ICARM52023.2021.9536192","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536192","url":null,"abstract":"This paper proposes an electronic trigger assisted coupled and self-adaptive finger, LPCA finger. LPCA finger is provided with two joints, two motors, two sensors and a control module, which realizes coupling during the startup phase of grabbing and self-adaptive in the next stage. According to its self-adaptive characteristics, the device can grasp the target of uncertain size and type. The pressure sensor is used to collect the information of the object contacted by the phalanges, and the second motor can be triggered to cooperate with the assistance of self-adaptive grasping with only a small extrusion pressure to avoid the damage caused by excessive extrusion pressure on the object caused by the proximal phalange in the grasping process. The finger end grasping force is large and the structure is simple. This paper introduces the design of LPCA finger, and gives the force analysis of finger. Force analysis and experiments indicate that LPCA finger possess coupled and self-adaptive function and its end grasping is stable.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123098445","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536050
Jianbo Yuan, Yaxiong Wu, Boxing Wang, Hong Qiao
Compared with the conventional articulated robotic arm, human arm has an irreplaceable advantage in manipulation due to its better robustness and flexibility. However, many mechanisms of the musculoskeletal system have not been fully verified, such as robustness, compliance, dexterity, and so on. In this work, we build a musculoskeletal robot of two muscles and a single joint based on the new artificial muscle module of motor drive and cord traction. Subsequently, a muscle control method is proposed with feedforward friction compensation for model errors. Various experiments are carried out to evaluate the basic performance of the proposed musculoskeletal robot and the controller. The friction experiments show that the average error of actual muscle force be of 5% after friction compensation. The trajectory tracking experiment is carried out, proving that the average error of muscle force and joint angle are less than 3N and 3°, respectively. This work provides a hardware basis for future verification of the advantages of the musculoskeletal system. It will promote the development of manufacturing and daily service of anthropomimetic robotics in the near future.
{"title":"Musculoskeletal Robot with Motor Driven Artificial Muscle","authors":"Jianbo Yuan, Yaxiong Wu, Boxing Wang, Hong Qiao","doi":"10.1109/ICARM52023.2021.9536050","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536050","url":null,"abstract":"Compared with the conventional articulated robotic arm, human arm has an irreplaceable advantage in manipulation due to its better robustness and flexibility. However, many mechanisms of the musculoskeletal system have not been fully verified, such as robustness, compliance, dexterity, and so on. In this work, we build a musculoskeletal robot of two muscles and a single joint based on the new artificial muscle module of motor drive and cord traction. Subsequently, a muscle control method is proposed with feedforward friction compensation for model errors. Various experiments are carried out to evaluate the basic performance of the proposed musculoskeletal robot and the controller. The friction experiments show that the average error of actual muscle force be of 5% after friction compensation. The trajectory tracking experiment is carried out, proving that the average error of muscle force and joint angle are less than 3N and 3°, respectively. This work provides a hardware basis for future verification of the advantages of the musculoskeletal system. It will promote the development of manufacturing and daily service of anthropomimetic robotics in the near future.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125909838","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536139
Yinliang Zhang, Hongyu Wei, Tao Zhang, Haifei Zhu, Y. Guan, Xilun Ding, X. Hou
Penetrating planetary subsurface regolith is extremely significant to explore the secrets insight extraterrestrial planets. The concept considerations and mechanism design of a planetary regolith-boring robot were proposed in this work. The robot has two degrees of freedom, including a rotational cutting head to break regolith and a penetration mechanism to move the robot along the drilled borehole. The serrated cutters are designed on the cutter head to improve the adaptability of regolith with different strengths, and high-pressure pneumatic gas is utilized to remove drilled cuttings. The penetration mechanism relies on the friction force with the borehole to provide torque balance generated by the rotational cutting movement and achieve downward penetration.
{"title":"Mechanism Design of an Extraterrestrial Regolith-boring Robot","authors":"Yinliang Zhang, Hongyu Wei, Tao Zhang, Haifei Zhu, Y. Guan, Xilun Ding, X. Hou","doi":"10.1109/ICARM52023.2021.9536139","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536139","url":null,"abstract":"Penetrating planetary subsurface regolith is extremely significant to explore the secrets insight extraterrestrial planets. The concept considerations and mechanism design of a planetary regolith-boring robot were proposed in this work. The robot has two degrees of freedom, including a rotational cutting head to break regolith and a penetration mechanism to move the robot along the drilled borehole. The serrated cutters are designed on the cutter head to improve the adaptability of regolith with different strengths, and high-pressure pneumatic gas is utilized to remove drilled cuttings. The penetration mechanism relies on the friction force with the borehole to provide torque balance generated by the rotational cutting movement and achieve downward penetration.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125681123","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}
As a remote communication method, remote video scene is widely used in some occasions such as telecommuting, telelearning, and teleconsultation. However, the remote video scene requires a large network bandwidth for image information transmission, resulting in the insufficient real-time performance. In this paper, applying the super-resolution image restoration method to a remote video scene only requires 1/16 of the original network bandwidth, but a good visual effect of image reconstruction can be obtained. The Enhanced Information Multi-Distillation Block (EIMDB) and the Pixel-Level Information Distillation Block (PIDB) are proposed, which can improve the super-resolution effect of the image with a small amount of calculation. Finally, a novel real-time remote video communication super-resolution network (RVCSRN) is proposed which achieves a good balance between speed and restoration effect, and can effectively improve the visual effect of the remote video scene. In addition, since the pictures processed in the remote video scene are different from those processed by the general super-resolution method, these pictures have a compression loss, so a remote video scene dataset (RVSet) is created to obtain a better super-resolution effect.
远程视频场景作为一种远程通信方式，广泛应用于远程办公、远程学习、远程会诊等场合。然而，远程视频场景需要很大的网络带宽来传输图像信息，导致实时性不足。本文将超分辨率图像恢复方法应用于远程视频场景，所需网络带宽仅为原网络带宽的1/16，却能获得良好的图像重建视觉效果。提出了增强信息多蒸馏块(Enhanced Information Multi-Distillation Block, EIMDB)和像素级信息蒸馏块(Pixel-Level Information Distillation Block, PIDB)，以较少的计算量提高图像的超分辨率效果。最后，提出了一种新型的实时远程视频通信超分辨率网络(RVCSRN)，该网络在速度和恢复效果之间取得了很好的平衡，可以有效地改善远程视频场景的视觉效果。此外，由于远程视频场景处理的图像与一般超分辨率方法处理的图像不同，这些图像存在压缩损失，因此创建远程视频场景数据集(RVSet)以获得更好的超分辨率效果。
{"title":"Deep Learning Based Video Super-Resolution and its Application in Video Conferences","authors":"Yinyan Lin, Chaoyang Zou, Yingjie Feng, Mingwei Liang","doi":"10.1109/ICARM52023.2021.9536106","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536106","url":null,"abstract":"As a remote communication method, remote video scene is widely used in some occasions such as telecommuting, telelearning, and teleconsultation. However, the remote video scene requires a large network bandwidth for image information transmission, resulting in the insufficient real-time performance. In this paper, applying the super-resolution image restoration method to a remote video scene only requires 1/16 of the original network bandwidth, but a good visual effect of image reconstruction can be obtained. The Enhanced Information Multi-Distillation Block (EIMDB) and the Pixel-Level Information Distillation Block (PIDB) are proposed, which can improve the super-resolution effect of the image with a small amount of calculation. Finally, a novel real-time remote video communication super-resolution network (RVCSRN) is proposed which achieves a good balance between speed and restoration effect, and can effectively improve the visual effect of the remote video scene. In addition, since the pictures processed in the remote video scene are different from those processed by the general super-resolution method, these pictures have a compression loss, so a remote video scene dataset (RVSet) is created to obtain a better super-resolution effect.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126828232","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536162
Xiang Li, Qinjian Li, H. Xia, Ying Feng, Zhijun Li
In this paper, the human ankle impedance information will be added into the human-exosuit dynamic model, and then a human-in-the-loop control of soft exosuit is designed to provide plantar flexion assistance. The gradient-following and betterment schemes are employed to obtain a desired impedance model. The scheme can provide an auxiliary force for the ankle to push off the ground in the variable human-exsosuit dynamic interaction. When the subject wears the exosuit and walks on the ground, this iterative learning method can be used to give the exoskeleton the human-like process learning skills, so that it can automatically adapt to the forces and instabilities of the surrounding environment. The effectiveness and stability of the control scheme are verified by experiments on different subjects. Results show that a desired interaction performance can be achieved by learning impedance parameters, indicating our proposed method has potential to facilitating exosuit control.
{"title":"Iterative Learning Control of Impedance Parameters for a Soft Exosuit","authors":"Xiang Li, Qinjian Li, H. Xia, Ying Feng, Zhijun Li","doi":"10.1109/ICARM52023.2021.9536162","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536162","url":null,"abstract":"In this paper, the human ankle impedance information will be added into the human-exosuit dynamic model, and then a human-in-the-loop control of soft exosuit is designed to provide plantar flexion assistance. The gradient-following and betterment schemes are employed to obtain a desired impedance model. The scheme can provide an auxiliary force for the ankle to push off the ground in the variable human-exsosuit dynamic interaction. When the subject wears the exosuit and walks on the ground, this iterative learning method can be used to give the exoskeleton the human-like process learning skills, so that it can automatically adapt to the forces and instabilities of the surrounding environment. The effectiveness and stability of the control scheme are verified by experiments on different subjects. Results show that a desired interaction performance can be achieved by learning impedance parameters, indicating our proposed method has potential to facilitating exosuit control.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114165083","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536144
{"title":"Title Page","authors":"","doi":"10.1109/ICARM52023.2021.9536144","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536144","url":null,"abstract":"","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129210847","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536156
Yongquan Yu, Chao Lin, Chunjiang He, Yanan Hu
To satisfy the requirements of transmission mechanisms with variable transmission ratio, the curve face gear mechanism of compound motion has been proposed, which can build variable transmission ratio and rotation/movement compound motion simultaneously with fewer components and more compact structure. The transmission equation was established and the anti-floating design of the pinion was presented. Combined with critical floating conditions, the relationship among engagement state, rotation speed, stiffness and some other parameters have been shown obviously. According to the discrete method, the difference of meshing tooth pair in a half cycle was set up and converted as the equivalent model with time-varying properties. The dynamic response equations of this gear pair were obtained and the influence of parameters on response displacements were analyzed. Compared with the experimental results, the correctness and rationality of the theory was verified, laying a theoretical foundation for the following research and application of this gear pair.
{"title":"Research on the Time-varying Dynamic Characteristics of Compound Motion Curve Face Gear Pair*","authors":"Yongquan Yu, Chao Lin, Chunjiang He, Yanan Hu","doi":"10.1109/ICARM52023.2021.9536156","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536156","url":null,"abstract":"To satisfy the requirements of transmission mechanisms with variable transmission ratio, the curve face gear mechanism of compound motion has been proposed, which can build variable transmission ratio and rotation/movement compound motion simultaneously with fewer components and more compact structure. The transmission equation was established and the anti-floating design of the pinion was presented. Combined with critical floating conditions, the relationship among engagement state, rotation speed, stiffness and some other parameters have been shown obviously. According to the discrete method, the difference of meshing tooth pair in a half cycle was set up and converted as the equivalent model with time-varying properties. The dynamic response equations of this gear pair were obtained and the influence of parameters on response displacements were analyzed. Compared with the experimental results, the correctness and rationality of the theory was verified, laying a theoretical foundation for the following research and application of this gear pair.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123925125","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536188
Cong Zhang, Jing Wang, Qing Wei
Legged robots have become a research hotspot in recent years due to their flexible characteristics, especially the movement ability in complex environments. Impedance control has a unique effect in solving robot compliance and is one of the main methods to solve this problems. Although there are many discussions on the selection of impedance control parameters, most research are focused on single leg platforms. This paper starts by analysing the role of single leg in quadruped robot platform, and proposes an impedance parameter optimization method based on the overall dynamic consistency of quadruped robot. Through the proposed method, we realized the automatic adjustment of the robot’s expected foot force and impedance controller parameters based on the load. By introducing the strategy of ceiling control, the robot can return to a stable state of motion as soon as possible while taking into account flexibility, which effectively reduces the fluctuation of the robot in motion. We verify the effectiveness of this method on both single-leg platform and quadruped robot platform through experiments.
{"title":"Optimization Method of Impedance Control Parameters of Quadruped Robot Based on Dynamic Consistency *","authors":"Cong Zhang, Jing Wang, Qing Wei","doi":"10.1109/ICARM52023.2021.9536188","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536188","url":null,"abstract":"Legged robots have become a research hotspot in recent years due to their flexible characteristics, especially the movement ability in complex environments. Impedance control has a unique effect in solving robot compliance and is one of the main methods to solve this problems. Although there are many discussions on the selection of impedance control parameters, most research are focused on single leg platforms. This paper starts by analysing the role of single leg in quadruped robot platform, and proposes an impedance parameter optimization method based on the overall dynamic consistency of quadruped robot. Through the proposed method, we realized the automatic adjustment of the robot’s expected foot force and impedance controller parameters based on the load. By introducing the strategy of ceiling control, the robot can return to a stable state of motion as soon as possible while taking into account flexibility, which effectively reduces the fluctuation of the robot in motion. We verify the effectiveness of this method on both single-leg platform and quadruped robot platform through experiments.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121337557","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536208
Huanfeng Peng, Jie Zhou, Ting Xu, Jinwu Gao, R. Song
Passive training is the most fundamental functionality of a lower limb rehabilitation robot (LLRR), and high position tracking accuracy can ensure it is completed satisfactorily. In this paper, a triple-step nonlinear controller with a multi-layer feed-forward neural network (MLFNN) is proposed to improve the tracking accuracy of a LLRR. The triple-step nonlinear controller as the basic controller can guarantee the LLRR follow gait trajectory, and the MLFNN is designed based on a specific objective function to compensate the disturbances and system uncertainties. Experiments are carried out on the LLRR, and the results show that the proposed controller can obtain higher tracking accuracy than the triple-step controller without MLFNN.
{"title":"Triple-step Nonlinear Controller with MLFNN for a Lower Limb Rehabilitation Robot","authors":"Huanfeng Peng, Jie Zhou, Ting Xu, Jinwu Gao, R. Song","doi":"10.1109/ICARM52023.2021.9536208","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536208","url":null,"abstract":"Passive training is the most fundamental functionality of a lower limb rehabilitation robot (LLRR), and high position tracking accuracy can ensure it is completed satisfactorily. In this paper, a triple-step nonlinear controller with a multi-layer feed-forward neural network (MLFNN) is proposed to improve the tracking accuracy of a LLRR. The triple-step nonlinear controller as the basic controller can guarantee the LLRR follow gait trajectory, and the MLFNN is designed based on a specific objective function to compensate the disturbances and system uncertainties. Experiments are carried out on the LLRR, and the results show that the proposed controller can obtain higher tracking accuracy than the triple-step controller without MLFNN.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114200301","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}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536089
Zhaoxing Chen, Xiangrong Xu, Wenbin Zha, A. Rodic, P. Petrovic
In order to improve the working efficiency and stability of the robot, a motion planning strategy of multi joint serial manipulator is proposed in this paper. In face of different time demands, two alternative motion planning methods is offered for robot selection to plan according to the established requirements. In one case, when the robot can make timely response to the environment, an effective motion planning method can be selected. Firstly, the improved RRT algorithm is used to quickly plan the robot path, and then the quintic quasi uniform B-spline function is used to fit the trajectory. According to this, the robot can respond quickly and timely. On the other hand, when the robot has enough time for motion planning, we can consider how to improve the quality of robot motion planning. The robot can use another method for motion planning. At this time, we also need to plan the robot path first, then use the quintic non-uniform B-spline curve fitting, and finally use the improved particle swarm optimization algorithm to optimize the trajectory of the robot. The robot can have a stable and efficient trajectory in the working environment. By using the motion planning method proposed in this paper, the robot can adapt to most of the work requirements and objectives.
{"title":"Motion Planning of 7-DOF Manipulator Based on Quintic B-Spline Curve","authors":"Zhaoxing Chen, Xiangrong Xu, Wenbin Zha, A. Rodic, P. Petrovic","doi":"10.1109/ICARM52023.2021.9536089","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536089","url":null,"abstract":"In order to improve the working efficiency and stability of the robot, a motion planning strategy of multi joint serial manipulator is proposed in this paper. In face of different time demands, two alternative motion planning methods is offered for robot selection to plan according to the established requirements. In one case, when the robot can make timely response to the environment, an effective motion planning method can be selected. Firstly, the improved RRT algorithm is used to quickly plan the robot path, and then the quintic quasi uniform B-spline function is used to fit the trajectory. According to this, the robot can respond quickly and timely. On the other hand, when the robot has enough time for motion planning, we can consider how to improve the quality of robot motion planning. The robot can use another method for motion planning. At this time, we also need to plan the robot path first, then use the quintic non-uniform B-spline curve fitting, and finally use the improved particle swarm optimization algorithm to optimize the trajectory of the robot. The robot can have a stable and efficient trajectory in the working environment. By using the motion planning method proposed in this paper, the robot can adapt to most of the work requirements and objectives.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"102 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124159272","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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