Collision detection and reaction for a collaborative robot with sensorless admittance control

Kim, Joonyoung

doi:10.1016/j.mechatronics.2022.102811

Cited by 13 publications

(1 citation statement)

References 25 publications

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“…Wu et al (2021) proposed a variable admittance control method based on human intentions, which rendered the robot to respond to the human operator safely, whereas the large inertia presented in the load during the compliant assembly is not considered. Kim (2022) introduced a sensorless admittance control of a 3-DOF manipulator for collision detection, though the method avoids the usage of force sensors, its application in 6-DOF robots is less practical owing to the difficulty to obtain the robot dynamics model, besides the model is prone to change with the replacement of the end load.…”

Section: Introductionmentioning

confidence: 99%

Human-robot collaborative assembly of movable airfoils using adaptive admittance control

Shen¹,

Li²,

Tian³

et al. 2022

JIMSE

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PurposeWith the increasing requirements for intelligence in the field of aviation manufacturing, manual assembly can hardly adapt to the trend of future production. The purpose of this study is to realize the semi-automatic assembly of the movable airfoil by proposing a human-robot collaborative assembly strategy based on adaptive admittance control.Design/methodology/approachA logical judgment system for operating intentions is introduced in terms of different situations of the movements; hence, a human cognition-based adaptive admittance control method is developed to curb the damage of inertia; then virtual limit walls are raised on the periphery of the control model to ensure safety; finally, simulated and experimental comparisons with other admittance control methods are conducted to validate the proposed method.FindingsThe proposed method can save at least 28.8% of the time in the stopping phase which effectively compensates for inertia during the assembly process and has high robustness concerning data disturbances.Originality/valueDue to the human-robot collaboration to achieve compliant assembly of movable airfoils can preserve human subjectivity while overcoming the physical limits of humans, which is of great significance to the investigation of intelligent aircraft assembly, the proposed method that reflects the user's naturalness and intuitiveness can not only enhance the stability and the flexibility of the manipulation, but also contribute to applications of industrial robots in the field of human-robot collaboration.

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Section: Introductionmentioning

confidence: 99%