检索结果-内蒙古大学图书馆

Using Franka Emika collaborative robot as a haptic device

MECHATRONICS 2025年 106卷

作者： Brian, Wilson Gutierrez, Sebastian Gil, Jorge Juan Tecnun Univ Navarra Dept Mech Engn E-20018 San Sebastian Guipuzcoa Spain

This study investigates the feasibility of using a collaborative robot as a haptic device. The research analyzes the robot's behavior across a range of frequencies relevant to human interaction under two opposite operating conditions: free movement and highly constrained movement. To characterize the robot's performance, simplified models are estimated. The resulting dynamics is compared with those of other mechanisms specifically designed for haptic rendering. The study identifies two key challenges: the anisotropy of the apparent inertia and the presence of resonance. In particular, resonance in constrained motion results in reduced perceived impedance, deviating from the sensation of rigid contact. In order to address this issue, the study examines the application of viscosity to dampen resonance and improve user experience. The findings indicate that with appropriate adjustments and control techniques, a collaborative robot can indeed serve as a haptic device, offering comparable performance to that of specialized haptic mechanisms.

关键词： collaborative robot Haptic device Impedance analysis

来源：评论

学校读者我要写书评

暂无评论

Unfastening of Hexagonal Headed Screws by a collaborative robot

引用

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2020年第3期17卷 1455-1468页

作者： Li, Ruiya Pham, Duc Truong Huang, Jun Tan, Yuegang Qu, Mo Wang, Yongjing Kerin, Mairi Jiang, Kaiwen Su, Shizhong Ji, Chunqian Liu, Quan Zhou, Zude Wuhan Univ Technol Sch Mech & Elect Engn Dept Mech Engn Wuhan 430070 Peoples R China Univ Birmingham Sch Engn Dept Mech Engn Birmingham B15 2TT W Midlands England Wuhan Univ Technol Dept Automat Sch Informat Engn Wuhan 430070 Peoples R China

Disassembly is a core procedure in remanufacturing. Disassembly is currently carried out mainly by human operators. It is important to reduce the labor content of disassembly through automation, to make remanufacturing more economically attractive. Threaded fastener removal is one of the most difficult disassembly tasks to be fully automated. This article presents a new method developed for automating the unfastening of screws. An electric nutrunner spindle with a geared offset adapter was fitted to the end of a collaborative robot. The position of a hexagonal headed screw in a fitted stage was known only approximately, and its orientation in the hole was unknown. The robot was programed to perform a spiral search motion to engage the tool onto the screw. A control strategy combining torque and position monitoring with active compliance was implemented. An existing robot cell was modified and utilized to demonstrate the concept and to assess the feasibility of the solution using a turbocharger as a disassembly case study. Note to Practitioners-Remanufacturing is known to generate substantial economic, social, and environmental benefits. Disassembly is the first operation in a remanufacturing process chain. Unfastening threaded parts ("unscrewing") is a common disassembly task accounting for approximately 40% of all disassembly activity. Like other disassembly tasks, often, unscrewing has to be carried out manually in remanufacturing due to difficulties caused by the variable and unpredictable condition of the end-of-life (EoL) products to be remanufactured. Automating unscrewing operations should reduce the labor content of disassembly, thus lowering remanufacturing costs and promoting the adoption of remanufacturing. This article proposes the use of a collaborative robot to perform autonomous unfastening of hexagonal headed screws. collaborative robots have built-in force sensors and can be programed to carry out operations involving not only position but also acti

关键词： Fasteners Tools robots Collaboration Torque Automation Joining processes Automated unfastening collaborative robot disassembly human-robot collaboration remanufacturing unscrewing

来源：评论

学校读者我要写书评

暂无评论

A compliance modeling method of flexible rotary joint for collaborative robot using passive network synthesis theory

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2022年第8期236卷 4038-4048页

作者： Xu, Shoulin He, Bin Tongji Univ Dept Control Sci & Engn 4800 Cao An Rd Shanghai 201804 Peoples R China

collaborative robots have become a research focus because of their wide applications. However, the previous compliance design method of the flexible rotary joint for collaborative robot mainly relied on experience of designers, and "trial and error" method is usually adopted, no feasible and systematic theory for the designer to select numerical value and series-parallel connection mode of the springs and dampers for the flexible rotary joint. Thus, developing a feasible compliance modeling theory to guide the design of the flexible rotary joint is a particularly challenging task. The main contribution of this paper is to present a novel and effective compliance modeling theory of the flexible rotary joint for collaborative robot based on electrical and mechanical passive network synthesis, to provide theoretical and systematic guidances for compliance design of the flexible rotary joint. First, inerter element is introduced into the mechanical system, and the compliance of the flexible rotary joint is expressed as an angular velocity admittance function using electrical and mechanical network analogy. Then, by passive network synthesis theory, the three kinds of compliance realization forms of rational function and four-element compliance realization conditions of biquadratic function for the flexible rotary joint are given using inerters, springs, and dampers. Moreover, numerical examples and simulations are conducted to illustrate effectiveness of the proposed compliance realization method. Finally, discussions are given to illustrate advantages of the proposed compliance modeling and design methods compared with the previous method.

关键词： collaborative robot compliance modeling compliance design inerter passive network synthesis

来源：评论

学校读者我要写书评

暂无评论

Self-Capacitance Proximity and Tactile Skin Sensor With Shock-Absorbing Structure for a collaborative robot

引用

IEEE SENSORS JOURNAL 2020年第24期20卷 15075-15084页

作者： Tsuji, Satoshi Kohama, Teruhiko Fukuoka Univ Dept Elect Engn Fukuoka 8140180 Japan

Human collaborative robots (HCRs) work in close cooperation with humans. The proximity and tactile sensors placed on the HCR surface ensure the safety of humans working with the robots. However, many of these sensors do not have a collision absorption function. In this paper, we propose a self-capacitance proximity and tactile skin sensor with a shock-absorbing structure for HCRs. We evaluated the shock absorption performance and the proximity and tactile measurements of the prototype sensors using different thicknesses of the soft layer, which acted as a shock absorber. Results confirmed that when the thickness of the soft layer increased, the shock absorption function also increased, but the contact detection sensitivity decreased. In addition, we evaluated the collision between the robot with the sensor and an object when the robot moved. The sensor could absorb the impact of the collision between the robot and the object. Furthermore, multiple sensors placed on the robotic arm could detect an object before and after making contact in real time. We proved that the proposed sensor system with the shock absorber is reliable and can be used as a proximity and tactile skin sensor for HCRs.

关键词： Collision avoidance robot kinematics Tactile sensors Electrodes collaborative robot shock-absorbing structure proximity and tactile skin sensor self-capacitance sensor

来源：评论

学校读者我要写书评

暂无评论

Force/Torque Sensorless Compliant Control Strategy for Assembly Tasks Using a 6-DOF collaborative robot

引用

IEEE ACCESS 2019年 7卷 108795-108805页

作者： Zeng, Fan Xiao, Juliang Liu, Haitao Tianjin Univ Minist Educ Key Lab Mech Theory & Equipment Design Tianjin 300350 Peoples R China

The flexibility of the robot assembly process is critical, and a robot assembly system that is not flexible may damage the workpieces. Most researchers make the assembly process flexible by installing a six-dimensional force/torque sensor at the end of robots, but doing so will result in an increase in the costs of the robotic assembly system. To this end, this paper proposes an external force/torque calculation algorithm based on dynamic model identiflcation to replace the six-dimensional force/torque sensor;the algorithm can reduce the costs while achieving a flexible assembly. In this paper, the impedance model of the environment and the dynamic model of the robot with friction are unified. Based on the unified model, the virtual contact surface is proposed to optimize the assembly. To ensure the accuracy of the assembly, the compliant control method of this paper uses the PD-based position control as the control inner loop and the impedance control as the control outer loop. To verify the accuracy of the compliant control method, a 6-DOF series collaborative robot which is developed in our laboratory is used to complete the peg-in-hole assembly experiment. The experimental results show that the algorithm has good flexibility and positional accuracy.

关键词： collaborative robot compliant control impedance control virtue contact surface model identification flexible assembly

来源：评论

学校读者我要写书评

暂无评论

Identifying Dynamic Parameters With a Novel Software Design for the M-DOF collaborative robot

引用

IEEE ACCESS 2022年 10卷 24627-24637页

作者： Ayvaci, Omer Szulczynski, Pawel Kielczewski, Marcin Poznan Univ Tech Fac Comp & Telecommun PL-60965 Poznan Poland Poznan Univ Tech Fac Control Robot & Elect Engn PL-60965 Poznan Poland

The primary goal of this project was to develop a general identification method via software that can be applied to collaborative robots. To achieve this, the collaborative ultralight robots Kinova Gen2 and Kuka LWR4+ with seven degrees of freedom (M-DOF) were used. Specifically, the "recursive Newton-Euler" formulation was used to provide a set of parameters that could describe the body structure and to create a general symbolic representation for collaborative robots. For parameter estimation, the least squares method was used. In addition, trajectories generated with random numbers typically do not produce consistent results;thus, verified trajectories were used. To verify trajectories, real robots were simulated with V-Rep before being executed. When untested trajectories are first tested on robots, undesirable results may occur. This method was convenient for parameter estimation and robot health;saves time;and increases the consistency of results. Algorithms were coded in MATLAB and ROS packages via Python. MATLAB, ROS, and V-Rep worked together in the Ubuntu operating system. The identification methods were modeled, implemented, tested, and validated successfully, and the results for both robots are reported in this article.

关键词： robots Mathematical models Trajectory Solid modeling Software Matlab Collaboration collaborative robot dynamic modeling identification model rigid body

来源：评论

学校读者我要写书评

暂无评论

Bi-objective Motion Planning Approach for Safe Motions: Application to a collaborative robot

引用

JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2020年第1期99卷 45-63页

作者： Tarbouriech, Sonny Suleiman, Wael Univ Sherbrooke Fac Engn Elect & Comp Engn Dept Sherbrooke PQ Canada Univ Sherbrooke Inst Interdisciplinaire Innovat Technol 3IT Sherbrooke PQ Canada

This paper presents a new bi-objective safety-oriented path planning strategy for robotic manipulators. Integrated into a sampling-based algorithm, our approach can successfully enhance the task safety by guiding the expansion of the path towards the safest configurations. Our safety notion consists of avoiding dangerous situations, e.g. being very close to the obstacles, human awareness, e.g. being as much as possible in the human vision field, as well as ensuring human safety by being as far as possible from human with hierarchical priority between human body parts. Experimental validations are conducted in simulation and on the real Baxter research robot. They revealed the efficiency of the proposed method, mainly in the case of a collaborative robot sharing the workspace with humans.

关键词： Motion planning Safe motion collaborative robot Human-robot cooperation

来源：评论

学校读者我要写书评

暂无评论

Introduction and configuration of a collaborative robot in an assembly task as a means to decrease occupational risks and increase efficiency in a manufacturing company

引用

robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2019年 57卷 315-328页

作者： Realyvasquez-Vargas, Arturo Cecilia Arredondo-Soto, Karina Luis Garcia-Alcaraz, Jorge Yail Marquez-Lobato, Bogart Cruz-Garcia, Jesrael Inst Tecnol Tijuana Dept Ind Engn Tijuana 22414 Mexico Univ Autonoma Baja California Fac Chem Sci & Engn Tijuana 14418 Mexico Univ Autonoma Ciudad Juarez Dept Ind Engn & Mfg Ciudad Juarez 32310 Mexico Inst Tecnol Tijuana Dept Comp & Syst Tijuana 22414 Mexico

Occupational risk factors (e.g. awkward postures, excessive effort, and repetitive movements) are a growing concern in the manufacturing industry due to their relationship with the incidence of musculoskeletal disorders (MSDs). In this sense, collaborative robots developed purposely for performing manufacturing tasks have emerged as an attractive solution to the problem. This paper presents a project developed in a manufacturing company, where we propose the implementation of a collaborative robot to reduce the incidence of occupational risks among the employees of an assembly station and thus increase their safety and improve the performance of the entire assembly line. To implement the collaborative robot, we made a mechanical design of the workstation;then, the collaborative robot was configured by using the console method. Later, we performed a risk analysis of the collaborative robot with the formats provided by the manufacturing company and tested the collaborative robot's reliability following specific criteria. Finally, company technicians and operators were trained in terms of collaborative robot maintenance and operation, respectively. Our results revealed that the collaborative robot frees employees from potential occupational risks. Moreover, we detected better performance of the assembly line after the collaborative robot was implemented.

关键词： Assembly workstation Pockets collaborative robot Risks assessment Configuration of the collaborative robot

来源：评论

学校读者我要写书评

暂无评论

Design of Direct Teaching Behavior of collaborative robot Based on Force Interaction

引用

JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2019年第1期96卷 83-93页

作者： Ren, Tianyu Dong, Yunfei Wu, Dan Chen, Ken Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing 100084 Peoples R China

Direct teaching can help users without the expertise of robots to quickly program a robot and plan trajectories in a complex environment. It is one of the typical applications of human-robot cooperation for improving production efficiency. However, the existing direct teaching system and related research have the problem that the human-robot communication is not intuitive enough, and the personnel safety in the teaching-playback process cannot be fully guaranteed. Based on the self-developed torque-controlled robot platform, we propose a force interaction method to achieve natural command communication. Then, combined with the analysis of the security threats in the operation process, a proper behavior of the direct teaching robot is designed to form a complete teaching-playback strategy. The proposed force recognition method and direct teaching behavior are verified on a 7-DOF collaborative robot.

关键词： Direct teaching robot programming Human-robot cooperation collaborative robot

来源：评论

学校读者我要写书评

暂无评论

Multi-scale progressive fusion-based depth image completion and enhancement for industrial collaborative robot applications

引用

JOURNAL OF INTELLIGENT MANUFACTURING 2024年第5期35卷 2119-2135页

作者： Xian, Chuhua Zhang, Jun Yang, Wenhao Zhang, Yunbo South China Univ Technol Sch Comp Sci & Engn Guangdong Prov Key Lab Computat Intelligence & Cyb Guangzhou 510006 Guangdong Peoples R China Rochester Inst Technol Kate Gleason Coll Engn Dept Ind & Syst Engn 77 Lomb Mem Dr Rochester NY 14623 USA Rochester Inst Technol Golisano Coll Comp & Informat Sci Sch Informat iSchool 92 Lomb Mem Dr Rochester NY 14623 USA

The depth image obtained by consumer-level depth cameras generally has low resolution and missing regions due to the limitations of the depth camera hardware and the method of depth image generation. Despite the fact that many studies have been done on RGB image completion and super-resolution, a key issue with depth images is that there will be evident jagged boundaries and a significant loss of geometric information. To address these issues, we introduce a multi-scale progressive fusion network for depth image completion and super-resolution in this paper, which has an asymptotic structure for integrating hierarchical features in different domains. We employ two separate branches to learn the features of a multi-scale image given a depth image and its corresponding RGB image. The extracted features are then fused into different level features of these two branches using a step-by-step strategy to recreate the final depth image. To confine distinct borders and geometric features, a multi-dimension loss is also designed. Extensive depth completion and super-resolution studies reveal that our proposed method outperforms state-of-the-art methods both qualitatively and quantitatively. The proposed methods are also applied to two human-robot interaction applications, including a remote-controlled robot based on an unmanned ground vehicle (UGV), AR-based toolpath planning, and automatic toolpath extraction. All these experimental results indicate the effectiveness and potential benefits of the proposed methods.

关键词： Human-robot-interaction collaborative robot Fusion-learning Depth image completion Super resolution Multi-scale network

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：