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Industrial Robot-The International Journal of Robotics Research and Application最新文献

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A robust and simple collision avoidance approach for pick and place robot applications 一个强大的和简单的碰撞避免方法的拾取和放置机器人的应用
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-03-28 DOI: 10.1108/ir-01-2023-0005
C. Deniz
PurposeThe aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots).Design/methodology/approachIn this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems.FindingsThis approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries.Originality/valueThe algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries.
本研究的目的是创建一种基于四元数代数的鲁棒且简单的避碰方法,用于制造业中基于视觉的拾取和放置应用,特别是用于工业机器人和协作机器人(cobots)。设计/方法/方法本研究开发了一种基于四元数代数的方法,以防止工业机器人或协作机器人在视觉系统中包括拾取和放置应用过程中的任何碰撞或故障。该算法集成到控制系统中,在机器人将其末端执行器移动到目标位置之前检查碰撞。此外,还提出了一种手眼标定方法,方便地标定摄像机,定义摄像机与机器人坐标系之间的几何关系。该方法专为基于视觉的机器人/协作机器人应用而设计,可被开发人员和机器人集成商公司使用,以显着降低应用成本和拾取机器人系统安装的项目时间表。此外,该方法确保了所有行业机器人视觉应用的安全,稳健和高效应用,使其成为各行业的理想解决方案。这种方法的算法可以在机器人控制器或可编程逻辑控制器中操作,已经在基于视觉的机器人应用中进行了实时测试。它可以应用于现有的和新的基于视觉的拾取和放置项目与工业机器人或协作机器人最小的努力,使其成为一个具有成本效益和高效的解决方案,为各种行业。
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引用次数: 0
Enhance pick-and-place performance using multimodal interaction in operation environment 在操作环境中使用多模式交互提高取放性能
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-03-28 DOI: 10.1108/ir-10-2022-0260
Xinwei Guo, Yang Chen
PurposeCurrently, the vision and depth information obtained from the eye-to-hand RGB-D camera can apply to the reconstruction of the three-dimensional (3D) environment for a robotic operation workspace. The reconstructed 3D space contributes to a symmetrical and equal observation view for robots and humans, which can be considered a digital twin (DT) environment. The purpose of this study is to enhance the robot skill in the physical workspace, although the artificial intelligence (AI) technique has high performance of the robotic operation in the known environments.Design/methodology/approachA multimodal interaction framework is proposed in DT operation environments.FindingsA fast image-based target segmentation technique is combined in the 3D reconstruction of the robotic operation environment from the eye-to-hand camera, thus expediting the 3D DT environment generation without accuracy loss. A multimodal interaction interface is integrated into the DT environment.Originality/valueThe users are supported to operate the virtual objects in the DT environment using speech, mouse and keyboard simultaneously. The humans’ operations in 3D DT virtual space are recorded, and cues are provided for the robot’s operations in practice.
目前,眼对手RGB-D相机获得的视觉和深度信息可以应用于机器人操作工作空间的三维环境重建。重建的三维空间为机器人和人类提供了一个对称、平等的观察视角,这可以被认为是一个数字双胞胎(DT)环境。尽管人工智能(AI)技术在已知环境中具有较高的机器人操作性能,但本研究的目的是提高机器人在物理工作空间中的技能。设计/方法/方法提出了一种多模态交互框架。结合基于图像的快速目标分割技术,从眼手相机对机器人操作环境进行三维重建,在不损失精度的前提下加快了三维DT环境的生成。多模态交互界面集成到DT环境中。独创性/价值支持用户在DT环境中同时使用语音、鼠标和键盘操作虚拟对象。记录人在三维DT虚拟空间中的操作,为机器人实际操作提供线索。
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引用次数: 0
Cone-hole docking mechanism for a modular reconfigurable mobile robot and its characteristic analysis 模块化可重构移动机器人锥孔对接机构及其特性分析
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-03-15 DOI: 10.1108/ir-11-2022-0295
Shufeng Tang, Renjie Huang, Guoqing Zhao, Guoqing Wang
PurposeThe purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism.Design/methodology/approachAn arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability.FindingsThe cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment.Originality/valueBased on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability.
本文的目的是将模块化移动机器人改造为多机联合方式,在锥孔对接机构的连接下,实现非结构化环境下的越障、攀爬等多功能检测。为实现大公差对接,设计了带姿态保持弹簧的圆弧形对接锥头和形成环形圆孔的两根圆弧形连杆。在主动锁定之前,利用结构间的协调实现被动锁定,减轻了模块化机器人在非结构化环境下的对接影响。利用两圆弧连杆组成的锁紧环,通过连杆与滑块的相互运动获得开环和闭环运动特性,实现主动锁紧,既保证了对接精度,又实现了超强的对接稳定性。结果:锥孔对接机构具有位置偏差为6mm、俯仰偏差为8°的对接容差性能,可实现6自由度对接,承载能力为230 N,具有超强的对接稳定性。在锥孔对接机构的连接下,模块化移动机器人改造了多机关节模式,实现了非结构化环境下的越障、攀爬等多功能检测。在对通用模型进行力学分析的基础上,提出了一种结合主动和被动功能、六维约束的锥孔对接机构。利用锥形对接头的保姿弹簧和两圆弧连杆两端的压缩弹簧的特点,实现了大公差对接。设计了被动锁定和主动锁定模块,减轻了冲击载荷,且锁定不需要电力维护,既保证了对接精度,又实现了超强的对接稳定性。
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引用次数: 0
A balanced walking-clamp mechanism for inspection robot of transmission line 一种用于输电线路巡检机器人的平衡行走夹紧机构
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-03-14 DOI: 10.1108/ir-09-2022-0226
Caixia Chao, Xin Mei, Yongle Wei, L. Fang
PurposeThis paper aims to design a walking-clamp mechanism for the inspection robot of transmission line. The focus for this design is on climbing ability and obstacle-crossing ability with a goal to create a novel walking-clamp mechanism that can clamp not only the line but also the obstacle.Design/methodology/approachA novel clamping jaw used in the walking-clamp mechanism is proposed. The clamping wheel is mounted on the lower end of clamping jaw to reduce the friction between the clamping jaw and the line, and the top end of clamping jaw is designed as a hook structure to clamp the obstacle. The working principle and force states of the walking-clamp mechanism clamping the line and obstacle are analyzed, and the simulation and prototype experiments are carried out.FindingsThe experimental results show that this mechanism can clamp the obstacle steadily, and the clamping forces of the front and back pairs of clamping jaws are almost equal during robot walking along the catenary-shaped line. It is in agreement with the theoretical analysis, and it demonstrates that this mechanism can meet the working requirements of inspection robot.Practical implicationsThis novel mechanism can be used for inspection robot of transmission line, and it is beneficial for robot to complete long-distance inspection works.Social implicationsIt stands to reduce costs related to inspection and improve the inspection efficiency.Originality/valueInnovative features include its structure, working principle and force states.
目的为输电线路巡检机器人设计一种行走夹紧机构。本次设计的重点是攀爬能力和越障能力,目的是创造一种既能夹住线路又能夹住障碍物的新型行走夹机构。提出了一种用于行走夹紧机构的新型夹爪。夹紧轮安装在夹紧爪的下端,以减少夹紧爪与线路之间的摩擦,夹紧爪的上端设计为挂钩结构,以夹紧障碍物。分析了行走夹持机构夹持直线和障碍物的工作原理和受力状态,并进行了仿真和样机实验。实验结果表明,该机构能稳定地夹持障碍物,且机器人沿悬链线行走时前后对夹持钳爪夹持力基本相等。与理论分析相吻合,表明该机构能够满足巡检机器人的工作要求。该机构可用于输电线路巡检机器人,有利于机器人完成远距离巡检工作。社会意义降低检验相关成本,提高检验效率。创新特征包括其结构、工作原理和受力状态。
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引用次数: 0
Error identification and compensation of 1T2R parallel power head based on trajectory optimization and principal component analysis 基于轨迹优化和主成分分析的1T2R并联动力头误差辨识与补偿
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-03-03 DOI: 10.1108/ir-09-2022-0234
Y. Ni, Yizhang Cui, Shi Jia, Chenghao Lu, Wen-jin Lu
PurposeThe purpose of this paper is to propose a method for selecting the position and attitude trajectory of error measurement to improve the kinematic calibration efficiency of a one translational and two rotational (1T2R) parallel power head and to improve the error compensation effect by improving the properties of the error identification matrix.Design/methodology/approachFirst, a general mapping model between the endpoint synthesis error is established and each geometric error source. Second, a model for optimizing the position and attitude trajectory of error measurement based on sensitivity analysis results is proposed, providing a basis for optimizing the error measurement trajectory of the mechanism in the working space. Finally, distance error measurement information and principal component analysis (PCA) ideas are used to construct an error identification matrix. The robustness and compensation effect of the identification algorithm were verified by simulation and through experiments.FindingsThrough sensitivity analysis, it is found that the distribution of the sensitivity coefficient of each error source in the plane of the workspace can approximately represent its distribution in the workspace, and when the end of the mechanism moves in a circle with a large nutation angle, the comprehensive influence coefficient of each sensitivity is the largest. Residual analysis shows that the robustness of the identification algorithm with the idea of PCA is improved. Through experiments, it is found that the compensation effect is improved.Originality/valueA model for optimizing the position and attitude trajectory of error measurement is proposed, which can effectively improve the error measurement efficiency of the 1T2R parallel mechanism. In addition, the PCA idea is introduced. A least-squares PCA error identification algorithm that improves the robustness of the identification algorithm by improving the property of the identification matrix is proposed, and the compensation effect is improved. This method has been verified by experiments on 1T2R parallel mechanism and can be extended to other similar parallel mechanisms.
目的提出一种选择误差测量位置和姿态轨迹的方法,以提高一平移两转动并联动力头的运动标定效率,并通过改进误差辨识矩阵的性质来提高误差补偿效果。设计/方法/方法首先,建立了端点综合误差与各几何误差源的一般映射模型;其次,提出了基于灵敏度分析结果的误差测量位置和姿态轨迹优化模型,为优化机构在工作空间中的误差测量轨迹提供了依据。最后,利用距离误差测量信息和主成分分析(PCA)思想构建误差识别矩阵。通过仿真和实验验证了该辨识算法的鲁棒性和补偿效果。通过灵敏度分析发现,各误差源的灵敏度系数在工作空间平面上的分布可以近似地表示其在工作空间中的分布,当机构末端以较大的章动角作圆周运动时,各灵敏度的综合影响系数最大。残差分析表明,采用主成分分析思想的识别算法的鲁棒性得到了提高。通过实验,发现补偿效果得到了改善。提出了误差测量位置和姿态轨迹优化模型,可有效提高1T2R并联机构的误差测量效率。此外,还介绍了主成分分析的思想。提出了一种最小二乘PCA误差识别算法,通过改善识别矩阵的性质来提高识别算法的鲁棒性,并提高了补偿效果。该方法已通过1T2R并联机构的实验验证,可推广应用于其他类似并联机构。
{"title":"Error identification and compensation of 1T2R parallel power head based on trajectory optimization and principal component analysis","authors":"Y. Ni, Yizhang Cui, Shi Jia, Chenghao Lu, Wen-jin Lu","doi":"10.1108/ir-09-2022-0234","DOIUrl":"https://doi.org/10.1108/ir-09-2022-0234","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a method for selecting the position and attitude trajectory of error measurement to improve the kinematic calibration efficiency of a one translational and two rotational (1T2R) parallel power head and to improve the error compensation effect by improving the properties of the error identification matrix.\u0000\u0000\u0000Design/methodology/approach\u0000First, a general mapping model between the endpoint synthesis error is established and each geometric error source. Second, a model for optimizing the position and attitude trajectory of error measurement based on sensitivity analysis results is proposed, providing a basis for optimizing the error measurement trajectory of the mechanism in the working space. Finally, distance error measurement information and principal component analysis (PCA) ideas are used to construct an error identification matrix. The robustness and compensation effect of the identification algorithm were verified by simulation and through experiments.\u0000\u0000\u0000Findings\u0000Through sensitivity analysis, it is found that the distribution of the sensitivity coefficient of each error source in the plane of the workspace can approximately represent its distribution in the workspace, and when the end of the mechanism moves in a circle with a large nutation angle, the comprehensive influence coefficient of each sensitivity is the largest. Residual analysis shows that the robustness of the identification algorithm with the idea of PCA is improved. Through experiments, it is found that the compensation effect is improved.\u0000\u0000\u0000Originality/value\u0000A model for optimizing the position and attitude trajectory of error measurement is proposed, which can effectively improve the error measurement efficiency of the 1T2R parallel mechanism. In addition, the PCA idea is introduced. A least-squares PCA error identification algorithm that improves the robustness of the identification algorithm by improving the property of the identification matrix is proposed, and the compensation effect is improved. This method has been verified by experiments on 1T2R parallel mechanism and can be extended to other similar parallel mechanisms.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78245148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and development of a cable-driven elephant trunk robot with variable cross-sections 变截面索驱动象鼻机器人的设计与研制
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-02-20 DOI: 10.1108/ir-11-2022-0271
Guodong Qin, Qi Wang, Changyang Li, A. Ji, Huapeng Wu, Zhikang Yang, Shikun Wen
PurposeIn large equipment and highly complex confined workspaces, the maintenance is usually carried out by snake-arm robots with equal cross-sections. However, the equal cross-sectional design results in the snake arm suffering from stress concentration and restricted working space. The purpose of this paper is to design a variable cross-section elephant trunk robot (ETR) that can address these shortcomings through bionic principles.Design/methodology/approachThis paper proposes a cable-driven ETR to explore the advantages and inspiration of variable cross-section features for hyper-redundant robot design. For the kinematic characteristics, the influence of the variable cross-section design on the maximum joint angle of the ETR is analysed using the control variables method and the structural parameters are selected. Based on the biological inspiration of the whole elephant trunk following the movement of the trunk tip, a trajectory-tracking algorithm is designed to solve the inverse kinematics of the ETR.FindingsSimulation and test results show the unique advantages of the proposed variable cross-section ETR in kinematics and forces, which can reduce stress concentrations and increase the flexibility of movement.Originality/valueThis paper presents a design method for a variable cross-section ETR for confined working spaces, analyses the kinematic characteristics and develops a targeted trajectory control algorithm.
在大型设备和高度复杂的密闭工作空间中,维修通常由等截面的蛇形臂机器人进行。但等截面设计导致蛇臂受力集中,工作空间受限。本文的目的是设计一种可变截面象鼻机器人(ETR),通过仿生学原理来解决这些缺点。设计/方法/方法本文提出了一种电缆驱动的ETR,以探索变截面特征对超冗余机器人设计的优势和启示。针对ETR的运动特性,采用控制变量法分析了变截面设计对其最大关节角的影响,选择了结构参数。基于整个象鼻跟随象尖运动的生物学启发,设计了一种求解ETR逆运动学的轨迹跟踪算法。仿真和试验结果表明,所提出的变截面ETR在运动学和受力方面具有独特的优势,可以减少应力集中,提高运动的灵活性。提出了一种适用于受限工作空间的变截面ETR的设计方法,分析了ETR的运动特性,提出了一种有针对性的轨迹控制算法。
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引用次数: 0
An efficient and accurate force/torque sensing method based on an excitation trajectory 基于激励轨迹的高效、准确的力/扭矩传感方法
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-02-17 DOI: 10.1108/ir-08-2022-0206
K. Min, F. Ni, Hong Liu
PurposeThe purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory.Design/methodology/approachThis paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques.FindingsExperiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications.Originality/valueThe main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.
目的提出一种基于激励轨迹的机器人腕式六维力/扭矩传感器的高效、准确的力/扭矩传感方法。设计/方法/方法本文提出了一种基于激励轨迹的高效、精确的F/T传感方法。首先,综合考虑惯性力/力矩、传感器零漂移值、机器人基座倾角误差和负载重力引起的力/力矩,建立动态识别模型;因此,提高了传感精度。然后,利用优化后的激励轨迹进行机器人跟踪和数据采集。数据采集不受姿态限制,可显著缩短采集时间。最后,采用最小二乘法进行参数辨识和接触力/力矩检测。在自主研制的机械臂上进行了实验研究。结果表明,该方法比目前广泛采用的方法具有更高的效率和精度。数据采集时间从60秒以上缩短到3秒/20秒。因此,所提出的方法是有效的,适合于快节奏的工业应用。本文的主要贡献如下:综合考虑惯性力/力矩、传感器零漂移值、机器人基座倾角误差和负载重力引起的力/力矩,建立了机器人的动态识别模型;将优化后的激励轨迹用于机器人的跟踪和数据采集。
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引用次数: 0
Research on active disturbance rejection control technique for underwater welding robot based on model compensation 基于模型补偿的水下焊接机器人自抗扰控制技术研究
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-02-17 DOI: 10.1108/ir-11-2022-0274
Shengqiang Li, Xiaofan Zhang
PurposeAn active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index.Design/methodology/approachA welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam.FindingsThe simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved.Originality/valueThe seam gets plumper and smoother, with better continuity and no undercut phenomenon.
目的提出一种基于模型补偿的自抗扰控制器(ADRC)。该方法首先应取机器人的标称模型进行补偿。随后,利用膨胀状态观测器实时估计和补偿不确定的外部干扰,减小了膨胀状态观测器的观测估计范围。本文的目的是提出一种新的方法来提高系统的跟踪性能,以及动态和静态性能指标。焊接机器人是一个具有不确定性、时变、强耦合和非线性的复杂系统;它就像在水下环境中使用一样复杂,很难建立精确的水下焊接机器人动力学模型。针对水下焊接机器人的跟踪控制问题,采用传统的比例积分导数法实现焊缝自动跟踪难以达到控制性能要求。通过MATLAB/Simulink进行仿真实验,并对应用实验进行了记录。实验结果表明,该控制方法正确有效,系统跟踪性能稳定,提高了系统的鲁棒性和跟踪精度。独创性/价值接缝更丰满光滑,延续性更好,无凹边现象。
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引用次数: 0
Robotic friction stir welding - seam-tracking control, force control and process supervision 机器人搅拌摩擦焊。焊缝跟踪控制、力控制和过程监督
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-02-14 DOI: 10.1108/ir-06-2022-0153
M. Karlsson, Fredrik Bagge Carlson, Martin Holmstrand, A. Robertsson, J. De Backer, L. Quintino, E. Assunção, Rolf Johansson
PurposeThis study aims to enable robotic friction stir welding (FSW) in practice. The use of robots has hitherto been limited, because of the large contact forces necessary for FSW. These forces are detrimental for the position accuracy of the robot. In this context, it is not sufficient to rely on the robot’s internal sensors for positioning. This paper describes and evaluates a new method for overcoming this issue.Design/methodology/approachA closed-loop robot control system for seam-tracking control and force control, running and recording data in real-time operation, was developed. The complete system was experimentally verified. External position measurements were obtained from a laser seam tracker and deviations from the seam were compensated for, using feedback of the measurements to a position controller.FindingsThe proposed system was shown to be working well in overcoming position error. The system is flexible and reconfigurable for batch and short production runs. The welds were free of defects and had beneficial mechanical properties.Research limitations/implicationsIn the experiments, the laser seam tracker was used both for control feedback and for performance evaluation. For evaluation, it would be better to use yet another external sensor for position measurements, providing ground truth.Practical implicationsThese results imply that robotic FSW is practically realizable, with the accuracy requirements fulfilled.Originality/valueThe method proposed in this research yields very accurate seam tracking as compared to previous research. This accuracy, in turn, is crucial for the quality of the resulting material.
目的本研究旨在使机器人搅拌摩擦焊接(FSW)应用于实际。迄今为止,机器人的使用受到限制,因为FSW需要很大的接触力。这些力不利于机器人的定位精度。在这种情况下,仅仅依靠机器人内部的传感器进行定位是不够的。本文描述并评价了一种克服这一问题的新方法。设计/方法/方法开发了一种闭环机器人控制系统,用于缝迹跟踪控制和力控制,实时运行和记录数据。对整个系统进行了实验验证。外部位置测量由激光缝跟踪器获得,并利用测量结果反馈到位置控制器来补偿与缝的偏差。结果表明,该系统能很好地克服位置误差。该系统是灵活的,可重新配置批量和短期生产运行。焊缝无缺陷,具有良好的力学性能。在实验中,激光缝跟踪器既用于控制反馈,也用于性能评估。为了评估,最好使用另一个外部传感器进行位置测量,提供地面真实值。这些结果表明,机器人FSW在满足精度要求的情况下是可以实现的。独创性/价值与以前的研究相比,本研究中提出的方法产生了非常精确的接缝跟踪。这种精度反过来又对最终材料的质量至关重要。
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引用次数: 2
A systematic automated grasping approach for automatic manipulation of fabric with soft robot grippers 一种基于柔性机械手的织物自动抓取方法
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2023-02-06 DOI: 10.1108/ir-07-2022-0173
Yuqi Liu, Junqiang Su, Xinyu Li, Guoqing Jin
PurposeThe garment industry will be one of the major beneficiaries of advances in smart manufacturing, as it is highly labor-intensive and heavily depends on labor force. Manipulating robots in human environments has made great strides in recent years. However, the main research has focused on rigid, solid objects and core capabilities such as grasping, placing remain a challenging problem when dealing with soft textiles. The experimental results indicate that adopting the proposed bionic soft finger will provide garment manufacturers with smart manufacturing capabilities. Then, the purpose of this paper is to utilize the flexibility of the soft finger to transfer fabric layer by layer without damage in garment automation.Design/methodology/approachIn this paper, a new way to separate layer by layer pieces of fabric has been inspired by the rise of soft robotics and their applications in automation. Fabric gripping is accomplished by wiping deformation and pinching the fabric. A single fabric piece is separated from cutting pile by the soft finger in four steps: making an arch by pressing, wiping deformation, grasping and separating, and placing.FindingsThe case study demonstrated that the soft finger arrangement for automated grasping of fabric pieces of a garment can be successfully applied to delicate fabric. A combination of cloth shape and weight determines the number of soft fingers. In addition, the soft finger was tested on different types of fabrics to determine its performance and application capabilities. The technology may be used to produce clothing intelligently in the future, such as intelligent stacking, intelligent transportation and intelligent packaging, to increase clothing industry productivity.Originality/valueAn industrial bionic soft finger gripping system is proposed in this paper for application in the field of fabric automatic manipulation. A piece of fabric could be picked up and released layer by layer from a stack by the proposed gripper without creating any damage to it. Soft grippers have the right proportion of softness and rigidity like a human being. A soft finger has a potential affinity for soft materials such as fabrics without damaging either their surface or their properties.
服装行业是劳动密集型行业,对劳动力的依赖程度较高,将成为智能制造发展的主要受益者之一。近年来,在人类环境中操纵机器人取得了巨大的进步。然而,主要的研究集中在刚性、固体物体和核心能力,如抓取、放置,在处理软纺织品时仍然是一个具有挑战性的问题。实验结果表明,采用仿生软手指将为服装制造商提供智能制造能力。然后,本文的目的是在服装自动化中,利用柔软手指的柔韧性,在不损坏的情况下,对织物进行分层转移。设计/方法/方法在这篇论文中,受到软机器人技术的兴起及其在自动化中的应用的启发,提出了一种逐层分离织物的新方法。织物夹持是通过擦拭变形和夹紧织物来完成的。单片织物与剪桩通过软指分离,分压成拱、擦拭变形、抓合分离、放置四个步骤。研究结果表明,柔性手指自动抓取服装织物片的方法可以成功地应用于精细织物。布料的形状和重量的结合决定了柔软手指的数量。此外,还在不同类型的织物上测试了软手指,以确定其性能和应用能力。未来,该技术可用于服装的智能化生产,如智能堆叠、智能运输、智能包装等,提高服装行业的生产力。提出了一种工业仿生软手指抓握系统,并将其应用于织物自动操纵领域。这种夹具可以将一块织物一层一层地从一堆织物中取出并释放出来,而不会对织物造成任何损坏。柔软的抓手有合适的比例的柔软和刚性像一个人。柔软的手指对柔软的材料(如织物)具有潜在的亲和力,而不会损坏其表面或其性能。
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引用次数: 2
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Industrial Robot-The International Journal of Robotics Research and Application
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