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human-robot collaboration Framework Based on Impedance Control in robotic Assembly

Engineering 2023年第11期30卷 83-92页

作者： Xingwei Zhao Yiming Chen Lu Qian Bo Tao Han Ding State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.

关键词： human-robot collaboration Impedance control robotic assembly

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Adaptive human-robot collaboration Control Based on Optimal Admittance Parameters

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 589-601页

作者：禹鑫燚吴加鑫许成军罗惠珍欧林林 College of Information Engineering Zhejiang University of TechnologyHangzhou310023China

In order to help the operator perform the human-robot collaboration task and optimize the task performance,an adaptive control method based on optimal admittance parameters is proposed.The overall control structure with the inner loop and outer loop is first established.The tasks of the inner loop and outer loop are robot control and task optimization,respectively.An inner-loop robot controller integrated with barrier Lyapunov function and radial basis function neural networks is then proposed,which makes the robot with unknown dynamics securely behave like a prescribed robot admittance model sensed by the operator.Subsequently,the optimal parameters of the robot admittance model are obtained in the outer loop to minimize the task tracking error and interaction force.The optimization problem of the robot admittance model is transformed into a linear quadratic regulator problem by constructing the human-robot collaboration system model.The model includes the unknown dynamics of the operator and the task performance details.To relax the requirement of the system model,the integral reinforcement learning is employed to solve the linear quadratic regulator problem.Besides,an auxiliary force is designed to help the operator complete the specific task better.Compared with the traditional control scheme,the security performance and interaction performance of the human-robot collaboration system are improved.The effectiveness of the proposed method is verified through two numerical simulations.In addition,a practical human-robot collaboration experiment is carried out to demonstrate the performance of the proposed method.

关键词： human-robot collaboration admittance control barrier Lyapunov function linear quadratic regulator integral reinforcement learning

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Structural design and stiffness matching control of bionic variable stiffness joint for human–robot collaboration

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Biomimetic Intelligence & robotics 2023年第1期3卷 46-56页

作者： Xiuli Zhang Liqun Huang Hao Niu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Beijing Xiaomi Mobile Software Co.LTD Beijing 100085China

The physical compliance of interaction is an important requirement for safe and efficient collaboration between robots and humans,and the realization of human–robot compliance requires robot joints with variable stiffness similar to those of human joints.In this study,based on the tissue structure and driving principle of the human arm muscle ligament,a robot joint with variable stiffness is designed,consisting of an elastic belt and serial elastic actuator in parallel.The variable stiffness of the joint is realized by adjusting the tension length of the elastic belt.Surface electromyography(sEMG)signals of the human arm are used as the characterization quantity of joint stiffness to establish the pseudostiffness model of the elbow joint.The stiffness of the robot joints is adjusted in real-time to match the human arm stiffness based on the changes in sEMG signals of the human arm during operation.Real-time compliant interaction of human–robot collaboration is realized based on an end stiffness matching strategy.Additionally,to verify the effectiveness of the human joint stiffness matching-based compliance control strategy,a human–robot cooperative lifting experiment was designed.The bionic variable stiffness joint shows good stiffness adjustment,and the human–robot joint stiffness matching strategy based on human sEMG signals can improve the effectiveness and comfort of human–robot collaboration.

关键词： Variable stiffness joint Bionic design human-robot collaboration Stiffness matching sEMG

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A New human-robot collaboration Assembly System for Cellular Manufacturing

A New Human-Robot Collaboration Assembly System for Cellular...

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第三十届中国控制会议

作者： Jeffrey Too Chuan Tan Tamio Arai Intelligent Systems Division Department of Precision EngineeringSchool of EngineeringThe University of Tokyo113-8656Japan

Cellular manufacturing meets the diversified production and quantity requirements flexibly.However,its efficiency mainly depends on the operators’ working performance.In order to improve its efficiency,an effective assembly-support system is required to assist operators during the assembly process.In this paper,a multi-modal assembly-support system(MASS) was proposed,which aims to support operators from both informational aspect and physical aspect.To protect operators in MASS system,several safety designs in both hardware and control levels were also discussed.With the informational support and physical support from the MASS system,the assembly complexity and the operators’ burden are reduced.To evaluate the effect of MASS,a group of operators were required to execute a cable harness task.From the experimental results,it can be concluded that by using this system,the operators’ assembly performance was improved,and the efficiency of the cellular manufacturing was also improved.

关键词： human-robot collaboration Cellular Manufacturing Safety Strategy

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Dynamic Obstacle Avoidance for Application of human-robot Cooperative Dispensing Medicines

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 24-35页

作者：王正许辉吕娜陶卫陈国栋迟文正孙立宁 Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

关键词： automated dispensing medicines dynamic unstructured environment human-robot collaboration dynamic obstacle avoidance multi-sensor depth images 3D grids reactive control method

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Current Researches and Future Development Trend of Intelligent robot: A Review

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International Journal of Automation and computing 2018年第5期15卷 525-546页

作者： Tian-Miao Wang Yong Tao Hui Liu School of Mechanical Engineering and Automation Beihang University Beijing Advanced Innovation Center for Biomedical Engineering Beihang University

With the advancing of industrialization and the advent of the information age, intelligent robots play an increasingly important role in intelligent manufacturing, intelligent transportation system, the Internet of things, medical health and intelligent services. Based on working experiences in and reviews on intelligent robot studies both in China and abroad, the authors summarized researches on key and leading technologies related to human-robot collaboration, driverless technology, emotion recognition, brain-computer interface, bionic software robot and cloud platform, big data network, etc. The development trend of intelligent robot was discussed, and reflections on and suggestions to intelligent robot development in China were proposed. The review is not only meant to overview leading technologies of intelligent robot all over the world, but also provide related theories, methods and technical guidance to the technological and industrial development of intelligent robot in China.

关键词： Intelligent robot human-robot collaboration driverless technology emotion recognition brain-computer interface bigdata network.

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Bio-inspired robotic impedance adaptation for human-robot collaborative tasks

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Science China(Information Sciences) 2020年第7期63卷 69-78页

作者： Chao ZENG Chenguang YANG Zhaopeng CHEN School of Automation Science and Engineering South China University of Technology TAMS Group Informatics University of Hamburg

To improve the robotic flexibility and dexterity in a human-robot collaboration task, it is important to adapt the robot impedance in a real-time manner to its partner’s behavior. However, it is often quite challenging to achieve this goal and has not been well addressed yet. In this paper, we propose a bio-inspired approach as a possible solution, which enables the online adaptation of robotic impedance in the unknown and dynamic environment. Specifically, the bio-inspired mechanism is derived from the human motor learning, and it can automatically adapt the robotic impedance and feedforward torque along the motion trajectory. It can enable the learning of compliant robotic behaviors to meet the dynamic requirements of the interactions. In order to validate the proposed approach, an experiment containing an anti-disturbance test and a human-robot collaborative sawing task has been conducted.

关键词： impedance learning biomimetic control human-robot collaboration

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Motion Synchronization in human-robot Co-Transport without Force Sensing

Motion Synchronization in Human-Robot Co-Transport without F...

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第37届中国控制会议

作者： Lin Yang Yanan Li Deqing Huang School of Electrical Engineering Southwest Jiaotong University Department of Engineering and Design University of Sussex

In this paper,a human-robot co-transport system is studied where an object is transported from one position to a target position with two control inputs from a human and a robot.Motion synchronization is achieved when the human and the robot’s motion intentions are identical.The human partner’s motion intention is estimated based on his/her control input to the system,while his/her control input is estimated by developing an observer.The proposed method enables the robot to collaborate with its human partner efficiently and it does not require the force sensing at the interaction point.Simulation results are presented to illustrate the feasibility and advantages of the proposed method.

关键词： Motion synchronization Observer human-robot collaboration Stability

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