Hongqiang Sang, Fang Huang, Wei Lu, Rui Han, Fen Liu
Purpose
The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.
Design/methodology/approach
A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.
Findings
For low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.
Originality/value
This algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.
{"title":"A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot","authors":"Hongqiang Sang, Fang Huang, Wei Lu, Rui Han, Fen Liu","doi":"10.1108/ir-08-2023-0188","DOIUrl":"https://doi.org/10.1108/ir-08-2023-0188","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>For low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"23 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139103164","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 recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.
Design/methodology/approach
This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.
Findings
This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.
Originality/value
To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.
目的近几十年来，基于光探测与测距（LiDAR）的同步定位与绘图（SLAM）技术在机器人测绘领域得到了广泛的研究和发展。本文旨在为机器人测绘领域的研究人员和工程师提供重要参考。本文重点介绍了基于激光雷达的机器人测绘 SLAM 的研究现状，并从各种激光雷达类型和配置的角度进行了文献调查。研究结果本文基于三种不同的激光雷达形式和配置，对基于激光雷达的 SLAM 系统进行了全面的文献综述。作者认为，基于三维激光雷达和深度学习的多机器人协作测绘和多源融合 SLAM 系统将成为未来的新趋势。原创性/价值 据作者所知，这是首次从各种激光雷达类型和配置的角度对机器人测绘进行的全面调查。它可以为学术和工业机器人测绘的发展提供理论和实践指导。
{"title":"LiDAR-based SLAM for robotic mapping: state of the art and new frontiers","authors":"Xiangdi Yue, Yihuan Zhang, Jiawei Chen, Junxin Chen, Xuanyi Zhou, Miaolei He","doi":"10.1108/ir-09-2023-0225","DOIUrl":"https://doi.org/10.1108/ir-09-2023-0225","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139067501","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}
The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.
Design/methodology/approach
Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn.
Findings
Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts.
Originality/value
This provides a detail account of military robots and their role in modern warfare.
{"title":"Political tensions and technological innovation driving the military robot business","authors":"Robert Bogue","doi":"10.1108/ir-11-2023-0289","DOIUrl":"https://doi.org/10.1108/ir-11-2023-0289","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This provides a detail account of military robots and their role in modern warfare.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138561938","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}
This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.
Design/methodology/approach
A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.
Findings
From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.
Originality/value
As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.
{"title":"Prescribed performance sliding mode control for the PAMs elbow exoskeleton in the tracking trajectory task","authors":"Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu, Lihua Shen","doi":"10.1108/ir-06-2023-0122","DOIUrl":"https://doi.org/10.1108/ir-06-2023-0122","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"49 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138521715","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}
Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by establishing a dynamic model through the identification of the dynamic parameters of a self-designed robotic arm.
Design/methodology/approach
This study proposes an improved particle swarm optimization (IPSO) method for parameter identification, which comprehensively improves particle initialization diversity, dynamic adjustment of inertia weight, dynamic adjustment of local and global learning factors and global search capabilities. To reduce the number of particles and improve identification accuracy, a step-by-step dynamic parameter identification method was also proposed. Simultaneously, to fully unleash the dynamic characteristics of a robotic arm, and satisfy boundary conditions, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Finally, an arbitrary verification trajectory was planned using the IPSO to verify the accuracy of the dynamical parameter identification.
Findings
Experiments conducted on a self-designed robotic arm validate the proposed parameter identification method. By comparing it with IPSO1, IPSO2, IPSOd and least-square algorithms using the criteria of torque error and root mean square for each joint, the superiority of the IPSO algorithm in parameter identification becomes evident. In this case, the dynamic parameter results of each link are significantly improved.
Originality/value
A new parameter identification model was proposed and validated. Based on the experimental results, the stability of the identification results was improved, providing more accurate parameter identification for further applications.
{"title":"Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm","authors":"Feifei Zhong, Guoping Liu, Zhenyu Lu, Lingyan Hu, Yangyang Han, Yusong Xiao, Xinrui Zhang","doi":"10.1108/ir-07-2023-0157","DOIUrl":"https://doi.org/10.1108/ir-07-2023-0157","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by establishing a dynamic model through the identification of the dynamic parameters of a self-designed robotic arm.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This study proposes an improved particle swarm optimization (IPSO) method for parameter identification, which comprehensively improves particle initialization diversity, dynamic adjustment of inertia weight, dynamic adjustment of local and global learning factors and global search capabilities. To reduce the number of particles and improve identification accuracy, a step-by-step dynamic parameter identification method was also proposed. Simultaneously, to fully unleash the dynamic characteristics of a robotic arm, and satisfy boundary conditions, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Finally, an arbitrary verification trajectory was planned using the IPSO to verify the accuracy of the dynamical parameter identification.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Experiments conducted on a self-designed robotic arm validate the proposed parameter identification method. By comparing it with IPSO1, IPSO2, IPSOd and least-square algorithms using the criteria of torque error and root mean square for each joint, the superiority of the IPSO algorithm in parameter identification becomes evident. In this case, the dynamic parameter results of each link are significantly improved.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>A new parameter identification model was proposed and validated. Based on the experimental results, the stability of the identification results was improved, providing more accurate parameter identification for further applications.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"45 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138521717","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}
Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive index to evaluate the manipulator’s operation performance from various aspects.
Design/methodology/approach
In this research, a criterion called hybrid manipulability (HM) is proposed to assess the performance of the manipulator’s operation, considering crucial factors such as joint limits, obstacle avoidance and stability. The determination of the optimal platform pose is achieved by selecting the pose that maximizes the HM within the feasible inverse reachability map associated with the target object.
Findings
A self-built mobile manipulator is adopted as the experimental platform, and the feasibility of the proposed method is experimentally verified in the context of object-grasping tasks both in simulation and practice.
Originality/value
The proposed HM extends upon the conventional notion of manipulability by incorporating additional factors, including the manipulator’s joint limits, the obstacle avoidance situation during the operation and the manipulation stability when grasping the target object. The manipulator can achieve enhanced stability during grasping when positioned in the pose determined by the HM.
{"title":"Pose optimization for mobile manipulator grasping based on hybrid manipulability","authors":"Yangmin Xie, Jiajia Liu, Yusheng Yang","doi":"10.1108/ir-06-2023-0128","DOIUrl":"https://doi.org/10.1108/ir-06-2023-0128","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive index to evaluate the manipulator’s operation performance from various aspects.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>In this research, a criterion called hybrid manipulability (HM) is proposed to assess the performance of the manipulator’s operation, considering crucial factors such as joint limits, obstacle avoidance and stability. The determination of the optimal platform pose is achieved by selecting the pose that maximizes the HM within the feasible inverse reachability map associated with the target object.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>A self-built mobile manipulator is adopted as the experimental platform, and the feasibility of the proposed method is experimentally verified in the context of object-grasping tasks both in simulation and practice.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>The proposed HM extends upon the conventional notion of manipulability by incorporating additional factors, including the manipulator’s joint limits, the obstacle avoidance situation during the operation and the manipulation stability when grasping the target object. The manipulator can achieve enhanced stability during grasping when positioned in the pose determined by the HM.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"47 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138521716","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}
This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and other factors,by incorporating intelligent algorithms into the assembly line, the assembly process can be extended to uncertain assembly scenarios.
Design/methodology/approach
This work proposes a reinforcement learning framework based on digital twins. First, the authors used Unity3D to build a simulation environment that matches the real scene and achieved data synchronization between the real environment and the simulation environment through the robot operating system. Then, the authors trained the reinforcement learning model in the simulation environment. Finally, by creating a digital twin environment, the authors transferred the skill learned from the simulation to the real environment and achieved stable algorithm deployment in real-world scenarios.
Findings
In this work, the authors have completed the transfer of skill-learning algorithms from virtual to real environments by establishing a digital twin environment. On the one hand, the experiment proves the progressiveness of the algorithm and the feasibility of the application of digital twins in reinforcement learning transfer. On the other hand, the experimental results also provide reference for the application of digital twins in 3C assembly scenarios.
Originality/value
In this work, the authors designed a new encoder structure in the simulation environment to encode image information, which improved the model’s perception of the environment. At the same time, the authors used the fixed strategy combined with the reinforcement learning strategy to learn skills, which improved the rate of convergence and stability of skills learning. Finally, the authors transferred the learned skills to the physical platform through digital twin technology and realized the safe operation of the flexible printed circuit assembly task.
{"title":"Using digital twin to enhance Sim2real transfer for reinforcement learning in 3C assembly","authors":"Weiwen Mu, Wenbai Chen, Huaidong Zhou, Naijun Liu, Haobin Shi, Jingchen Li","doi":"10.1108/ir-07-2023-0156","DOIUrl":"https://doi.org/10.1108/ir-07-2023-0156","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and other factors,by incorporating intelligent algorithms into the assembly line, the assembly process can be extended to uncertain assembly scenarios.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This work proposes a reinforcement learning framework based on digital twins. First, the authors used Unity3D to build a simulation environment that matches the real scene and achieved data synchronization between the real environment and the simulation environment through the robot operating system. Then, the authors trained the reinforcement learning model in the simulation environment. Finally, by creating a digital twin environment, the authors transferred the skill learned from the simulation to the real environment and achieved stable algorithm deployment in real-world scenarios.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>In this work, the authors have completed the transfer of skill-learning algorithms from virtual to real environments by establishing a digital twin environment. On the one hand, the experiment proves the progressiveness of the algorithm and the feasibility of the application of digital twins in reinforcement learning transfer. On the other hand, the experimental results also provide reference for the application of digital twins in 3C assembly scenarios.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>In this work, the authors designed a new encoder structure in the simulation environment to encode image information, which improved the model’s perception of the environment. At the same time, the authors used the fixed strategy combined with the reinforcement learning strategy to learn skills, which improved the rate of convergence and stability of skills learning. Finally, the authors transferred the learned skills to the physical platform through digital twin technology and realized the safe operation of the flexible printed circuit assembly task.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"12 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138521806","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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