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

Abstract

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.

An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation

“…Li et al [9] proposed an NFMPC scheme for reliable tracking control by estimating the unknown physical interaction and external dynamics of the robot system. Some methods, such as admittance control, have been widely studied in industrial scenarios such as metal polishing [10], component assembly [11,12] and other dexterous manipulations [13,14]. Simply relying on trajectory tracking or servo control can hardly meet the full needs of efficient interaction between the manipulator and the steering wheel.…”