FSW robot system dimensional optimization and trajectory planning based on soft stiffness indices

Zhao, Jingjin; Duan, Yaxing; Xie, Biyun; Zhang, Ziqiang

doi:10.1016/j.jmapro.2020.05.004

Cited by 23 publications

(14 citation statements)

References 21 publications

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“…These existing studies on human preference collection and learning primarily focus on the trajectory querying strategy, human data augmentation and representation [14], with little attention paid to assisting the human preference labeling process, especially on how human values can be aligned in robotic trajectory ( [4,59]) for better labeling outcomes. We focus on the robotic trajectory evaluation by exploring key features that are deemed valuable in the robotics community (e.g., [25,51,74,82,88]). We present a system that conveys the feature information in a comprehensible manner to labelers with different levels of prior knowledge, especially those non-expert labelers.…”

Section: Related Work 21 Human Preference Learning In Robot Manipulat...mentioning

confidence: 99%

FARPLS: A Feature-Augmented Robot Trajectory Preference Labeling System to Assist Human Labelers’ Preference Elicitation

Lyu,

Bai,

Liang

et al. 2024

Proceedings of the 29th International Conference on Intelligent User Interfaces

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users' familiarities, difficulties of the trajectory pair, and level of disagreements. At the same time, the system monitors labelers' consistency and provides feedback on labeling progress to keep labelers engaged. A between-subjects study (N = 42, 105 pairs of robot pick-and-place trajectories per person) shows that FARPLS can help users establish preference criteria more easily and notice more relevant details in the presented trajectories than the conventional interface. FARPLS also improves labeling consistency and engagement, mitigating challenges in preference elicitation without raising cognitive loads significantly. CCS CONCEPTS• Human-centered computing → HCI design and evaluation methods; Interactive systems and tools.

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Section: Related Work 21 Human Preference Learning In Robot Manipulat...mentioning

confidence: 99%

FARPLS: A Feature-Augmented Robot Trajectory Preference Labeling System to Assist Human Labelers’ Preference Elicitation

Lyu,

Bai,

Liang

et al. 2024

Proceedings of the 29th International Conference on Intelligent User Interfaces

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“…This method has short calculation time, short running time, good universality, which is suitable for various robots.Without external influence, Lagrange equation method establishes equations based on the total kinetic energy (KE) and total potential energy (PE). Then the equation is derived to obtain the driving torque of each joint [17], [18], [19]. The relevant expression is shown in Equation (5).…”

Section: A Kinematics and Tp Of Rehabilitation Robotmentioning

confidence: 99%

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Xia

2023

IEEE Access

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With the aging global population, there are more patients with hemiplegia caused by stroke. The demand for rehabilitation robots to assist rehabilitation therapists is also increasing. To solve the above problems, a reasonable trajectory planning of the rehabilitation robot joints is constructed to achieve rehabilitation assistance, improve safety and practicality.Firstly, a Kinematics model is constructed, and B-spline is applied to realize the trajectory planning of the rehabilitation robot. By introducing crow search algorithm and multiple crow search algorithms, the energy impact multi-objective optimization for the upper limb movement of the rehabilitation robot is carried out. Relevant experiments are designed to compare and verify the optimization effects of the algorithms. From the results, by optimizing the crow search algorithm, only 25.36% and 34.20% of the impact and energy are used. The average impact size per unit of time decreases by 74.68%. The energy consumption per unit time decreases by 65.39%.After optimizing the crow search algorithm, the impact and energy per unit time are only 14.41% and 17.25%, respectively. The energy per unit time decreases by 74.53%, and the impact decreases by 82.97%. Compared with other algorithms, the space complexity of the improved method is very small, and the standard deviation is 0.03. The optimization algorithm performs well in trajectory planning optimization. It is of great significance in the trajectory planning and rehabilitation role of rehabilitation robots.

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“…And the result shows good performance of the identi cation. Zhao et al [15] proposes a method of constructing the hybrid stiffness index. Then, based on the soft stiffness index with joint limit constraint, a joint trajectory planning algorithm for the ZK-500 robot and positioner system is proposed.…”

Section: Introductionmentioning

confidence: 99%

Effects of curvature direction on friction stir welding lap joint of aluminum alloy “S” curved surface

Xiao

Mao²,

Wang³

et al. 2023

Int J Adv Manuf Technol

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In this paper, the friction stir welding (FSW) of single-curvature and double-curvature "S" curved surface lap joints were realized using split type pressing blocks xture and robotic system with welding parameter 1400rpm, 150mm/min. By Finite Element Method (FEM) and axial force analysis, the effects of curvature direction on friction stir welding lap joint of 5083 Aluminum Alloy "S" Curved surface is explored. The results show that Z-axis curvature direction has important in uence on joint forming. By split type pressing blocks xture, the material thermal expansion causes upward force F' in Z-axis positive curvature position, but causes downward force F' in Z-axis negative curvature position. So Z-axis positive curvature makes the actual axial compressive force F R (F R =F N -F') smaller than the device input F N . Which decreases the interface stress of the lap joint and increases the tendency of upper plate edges bending deformation and the probability of interface defects. Finally, the joint mechanical properties are reduced, the tensile load can be as low as 1.5 kN. While Z-axis negative curvature makes the actual axial compressive force F R (F R =F N +F') greater than the device input F N . Which increases the interface stress of the lap joint. Meanwhile it decreases the tendency of upper plate edges bending deformation and leads to the interface defects disappearing. So the joint mechanical properties are good, the tensile load can be more than 2.4 kN. For Y-axis curvature direction, its impact is mainly shown in changing the direction of resultant force F R . In Y-axis positive curvature position, the force F R lies between Y positive direction and Z negative direction. While in Y-axis negative curvature position, the force F R lies between Y negative direction and Z negative direction. The inclination of force F R is helpful to eliminate the interface defects of the joint. At the same time, it will cause inconsistent stress between the advancing side (AS) and the retreating side (RS) of the joint interface, which is the reason that the double-curvature lap joint welding process is unstable.

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FSW robot system dimensional optimization and trajectory planning based on soft stiffness indices

Cited by 23 publications

References 21 publications

FARPLS: A Feature-Augmented Robot Trajectory Preference Labeling System to Assist Human Labelers’ Preference Elicitation

FARPLS: A Feature-Augmented Robot Trajectory Preference Labeling System to Assist Human Labelers’ Preference Elicitation

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Effects of curvature direction on friction stir welding lap joint of aluminum alloy “S” curved surface

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