Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

Duan, Jinjun; Liu, Zhouchi; Bin, Yiming; Cui, Kunkun; Zhang, Dai

doi:10.3390/s22020439

Cited by 18 publications

(7 citation statements)

References 15 publications

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“…are outlined in Table 1. The initial sensor signals were subjected to zero-point zero-drift processing and real-time gravity compensation as in the literature 27 , and then the noisy signals were filtered with a low-pass Butterworth filter.…”

Section: Ib Ib Ib Ibmentioning

confidence: 99%

Research on human-robot collaboration method for parallel robots oriented to segment docking

Sun,

Wang,

et al. 2024

Preprint

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In the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The considerable inertial force of cabin segments’ mass causes unexpected motion during docking, leading to segment collisions and difficulty in ensuring precise engine segment docking. Traditional manual docking utilizes workers' expertise, yet the labor-intensive nature and low productivity are unsuitable for practical applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Additionally, parallel robots, known for their precision and load-bearing ability, are widely employed in precise assembly tasks under heavy loads. Thus, human-parallel-robot collaboration serves as an excellent solution for these challenges. This paper proposes an easily implementable framework, employing human-parallel-robot collaboration technology for cabin segment docking in production. A fractional-order variable damping admittance control and an inverse dynamics robust controller are suggested to improve the robot's compliance, responsiveness, and trajectory tracking accuracy in collaboration. This allows operators to dynamically adjust the robot's motion in real-time, counterbalancing inertial forces and preventing collisions. Segment docking assembly experiments are conducted utilizing the Stewart platform in this study. The results show that the proposed method enables the robot to quickly respond to interaction forces, ensuring compliance and stable motion accuracy, even under unknown interaction forces.

show abstract

Section: Ib Ib Ib Ibmentioning

confidence: 99%

Research on human-robot collaboration method for parallel robots oriented to segment docking

Sun,

Wang,

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…The props and simulated loads collectively form a unified entity, which can be regarded as a cuboidal mass, with mass

= 52.68 kg and dimensions

, and inertia

, as outlined in Table 1 . The initial sensor signals were subjected to zero-point zero-drift processing and real-time gravity compensation, as in the literature [ 27 ], and then the noisy signals were filtered with a low-pass Butterworth filter.…”

Section: Experimental Verificationmentioning

confidence: 99%

Research on Human-Robot Collaboration Method for Parallel Robots Oriented to Segment Docking

Sun,

Wang,

et al. 2024

Sensors

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In the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The substantial inertial force of cabin segments’ mass often leads to unexpected motion during docking, resulting in segment collisions, making it challenging to ensure the accuracy and quality of engine segment docking. While traditional manual docking leverages workers’ expertise, the intensity of the labor and low productivity are impractical for real-world applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Parallel robots, known for their high precision and load-bearing capacity, are extensively used in precision assembly under heavy load conditions. Therefore, human-parallel-robot collaboration is an excellent solution for such problems. In this paper, a framework is proposed that is easy to realize in production, using human-parallel-robot collaboration technology for cabin segment docking. A fractional-order variable damping admittance control and an inverse dynamics robust controller are proposed to enhance the robot’s compliance, responsiveness, and trajectory tracking accuracy during collaborative assembly. This allows operators to dynamically adjust the robot’s motion in real-time, counterbalancing inertial forces and preventing collisions between segments. Segment docking assembly experiments are performed using the Stewart platform in this study. The results show that the proposed method allows the robot to swiftly respond to interaction forces, maintaining compliance and stable motion accuracy even under unknown interaction forces.

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“…The relationship between forces and moments can be derived using the right-hand rule [30] by referring to Fig. 3 as:…”

Section: Gravity Compensationmentioning

confidence: 99%

An automatic control of robotic polishing for a compound surface composed of a plane and curved parts

Mahamed

Duan²,

Zhang³

2023

Preprint

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The presented paper proposes a robotic polishing method for compound surface composed of plane and curved parts to increase quality, reducing cost, time and effort compared to manual polishing. The polishing approach is adopted based on the smooth trajectory planning, constant force algorithm, and modeling the removal profile depth. In order to generate a smooth polishing path that helps in stability and accuracy of motion during the polishing operation, a cubic B-spline interpolation curve with the harmonic model approach and Squad method were used. An online stiffness and reverse damping force (OSRDF) impedance controller supported by gravity compensation algorithm is used to to achieving a constant polishing force. Consequently, to evaluate the quality of a polishing results, the removal depth model is determined for plane and curved surfaces before and after polishing. The experimental studies were conducted to polish the manufactured box composed of resin material using the UR robot manipulator for validating the proposed method. The results of experiments proved the constancy of polishing force thanks to the OSRDF impedance controller with a small fluctuation directly proportional to the value of applied force. It also showed accurate equality of removal depth at the applied force of 20 N. The overall results explained that a presented polishing approach has a good capability to polish a compound surface with shiny appearance after painting.

show abstract

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

Cited by 18 publications

References 15 publications

Research on human-robot collaboration method for parallel robots oriented to segment docking

Research on human-robot collaboration method for parallel robots oriented to segment docking

Research on Human-Robot Collaboration Method for Parallel Robots Oriented to Segment Docking

An automatic control of robotic polishing for a compound surface composed of a plane and curved parts

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