Vibration Suppression of Deformable Linear Object Based on Vision Feedback

Huang, Jian; Ding, Feng; Wang, Huan; Wang, Yongji

doi:10.1007/978-3-642-36385-6_22

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…Furthermore, in the case of lightweight objects, the force/torque sensor may provide noisy feedback which is a major limitation for the implementation for such tasks. Similarly, another work to suppress vibration of a DLO using vision sensor was presented by Huang et al (2014). Where the developed PID controller reduced the vibration amplitude by 96% and the suppression time by 75% of DLO, grasped by a two DoF robot.…”

Section: Resultsmentioning

confidence: 99%

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Robot vision-based control strategy to suppress residual vibration of a flexible beam for assembly

Jalendra

Rout²,

Marathe³

2022

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Purpose Industrial robots are extensively used in the robotic assembly of rigid objects, whereas the assembly of flexible objects using the same robot becomes cumbersome and challenging due to transient disturbance. The transient disturbance causes vibration in the flexible object during robotic manipulation and assembly. This is an important problem as the quick suppression of undesired vibrations reduces the cycle time and increases the efficiency of the assembly process. Thus, this study aims to propose a contactless robot vision-based real-time active vibration suppression approach to handle such a scenario. Design/methodology/approach A robot-assisted camera calibration method is developed to determine the extrinsic camera parameters with respect to the robot position. Thereafter, an innovative robot vision method is proposed to identify a flexible beam grasped by the robot gripper using a virtual marker and obtain the dimension, tip deflection as well as velocity of the same. To model the dynamic behaviour of the flexible beam, finite element method (FEM) is used. The measured dimensions, tip deflection and velocity of a flexible beam are fed to the FEM model to predict the maximum deflection. The difference between the maximum deflection and static deflection of the beam is used to compute the maximum error. Subsequently, the maximum error is used in the proposed predictive maximum error-based second-stage controller to send the control signal for vibration suppression. The control signal in form of trajectory is communicated to the industrial robot controller that accommodates various types of delays present in the system. Findings The effectiveness and robustness of the proposed controller have been validated using simulation and experimental implementation on an Asea Brown Boveri make IRB 1410 industrial robot with a standard low frame rate camera sensor. In this experiment, two metallic flexible beams of different dimensions with the same material properties have been considered. The robot vision method measures the dimension within an acceptable error limit i.e. ±3%. The controller can suppress vibration amplitude up to approximately 97% in an average time of 4.2 s and reduces the stability time up to approximately 93% while comparing with control and without control suppression time. The vibration suppression performance is also compared with the results of classical control method and some recent results available in literature. Originality/value The important contributions of the current work are the following: an innovative robot-assisted camera calibration method is proposed to determine the extrinsic camera parameters that eliminate the need for any reference such as a checkerboard, robotic assembly, vibration suppression, second-stage controller, camera calibration, flexible beam and robot vision; an approach for robot vision method is developed to identify the object using a virtual marker and measure its dimension grasped by the robot gripper accommodating perspective view; the developed robot vision-based controller works along with FEM model of the flexible beam to predict the tip position and helps in handling different dimensions and material types; an approach has been proposed to handle different types of delays that are part of implementation for effective suppression of vibration; proposed method uses a low frame rate and low-cost camera for the second-stage controller and the controller does not interfere with the internal controller of the industrial robot.

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Section: Resultsmentioning

confidence: 99%

“…It is a non-contact sensor system, even mounting of the same on the robot is not necessary (eye to hand). A low-level PID controller for vision-based vibration suppression of deformable linear objects (DLO) was proposed (Huang et al , 2014). The DLO was a rubber strip and vibration was detected through the background subtraction method.…”

Section: Introductionmentioning

confidence: 99%

Robot vision-based control strategy to suppress residual vibration of a flexible beam for assembly

Jalendra

Rout²,

Marathe³

2022

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“…7 In their case, the acceleration response of the beam tip was the performance parameter. Furthermore, another study presented 30 a vision-based vibration suppression of a DLO. A PID controller based on a low-level control strategy modified the robot dynamic model with limitations on the task performed.…”

Section: Resultsmentioning

confidence: 99%

Vision based control strategy to suppress residual vibration of flexible beams for robotic assembly using wrist motion

Jalendra,

Rout

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Automated assembly tasks require industrial robots to improve the efficiency of the manufacturing process. Most rigid or flexible objects handled by robots vibrate due to motion and transient disturbance. This work proposes an active vision-based vibration suppression strategy for flexible beams by providing motion to the wrist of a robot during robotic assembly process, which reduces the time to suppress vibration. The proposed method uses a cheap monocular camera to identify objects through a virtual marker and measure their dimensions. Subsequently, finite element method based mathematical model of a flexible beam predicts the maximum error. The proposed second stage controller determines the controller input in terms of wrist motion based on the predicted maximum error. The performance of the controller is assessed through simulations and experiments on metallic beams with different material characteristics and dimensions. The controller suppresses vibration amplitude within a safe limit so that object is inserted into the slot. It was observed from experiments that the controller can reduce vibration amplitude by ~96% in less than 2 s and decrease suppression time up to ~97%. These improvements were achieved without disturbing the internal robot controller.

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“…An optical sensor system and controller (August et al , 2010), stereo vision-based delayed reference control (Boschetti et al , 2014) and visual inspection using the machine learning method (Yang et al , 2019) were designed for suspended load transportation and stabilization. Some vision sensor-based image processing methods were discussed, and a comparison of three methods to suppress vibration of DLO is available in Huang et al (2014). However, real-time implementation requires in-depth study on vision for complex and realistic environment background.…”

Section: Introductionmentioning

confidence: 99%

Vision sensor based residual vibration suppression strategy of non-deformable object for robot-assisted assembly operation with gripper flexibility

Jalendra

Rout

Marathe

2022

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Purpose Industrial robots are extensively deployed to perform repetitive and simple tasks at high speed to reduce production time and improve productivity. In most cases, a compliant gripper is used for assembly tasks such as peg-in-hole assembly. A compliant mechanism in the gripper introduces flexibility that may cause oscillation in the grasped object. Such a flexible gripper–object system can be considered as an under-actuated object held by the gripper and the oscillations can be attributed to transient disturbance of the robot itself. The commercially available robots do not have a control mechanism to reduce such induced vibration. Thus, this paper aims to propose a contactless vision-based approach for vibration suppression which uses a predictive vibrational amplitude error-based second-stage controller. Design/methodology/approach The proposed predictive vibrational amplitude error-based second-stage controller is a real-time vibration control strategy that uses predicted error to estimate the second-stage controller output. Based on controller output, input trajectories were estimated for the internal controller of the robot. The control strategy efficiently handles the system delay to execute the control input trajectories when the oscillating object is at an extreme position. Findings The present controller works along with the internal controller of the robot without any interruption to suppress the residual vibration of the object. To demonstrate the robustness of the proposed controller, experimental implementation on Asea Brown Boveri make industrial robot (IRB) 1410 robot with a low frame rate camera has been carried out. In this experiment, two objects have been considered that have a low (<2.38 Hz) and high (>2.38 Hz) natural frequency. The proposed controller can suppress 95% of vibration amplitude in less than 3 s and reduce the stability time by 90% for a peg-in-hole assembly task. Originality/value The present vibration control strategy uses a camera with a low frame rate (25 fps) and the delays are handled intelligently to favour suppression of high-frequency vibration. The mathematical model and the second-stage controller implemented suppress vibration without modifying the robot dynamical model and the internal controller.

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Vibration Suppression of Deformable Linear Object Based on Vision Feedback

Cited by 5 publications

References 9 publications

Robot vision-based control strategy to suppress residual vibration of a flexible beam for assembly

Robot vision-based control strategy to suppress residual vibration of a flexible beam for assembly

Vision based control strategy to suppress residual vibration of flexible beams for robotic assembly using wrist motion

Vision sensor based residual vibration suppression strategy of non-deformable object for robot-assisted assembly operation with gripper flexibility

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