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Yao, Bitao
Publikationer (3 of 3) Visa alla publikationer
Yao, B., Zhou, Z., Wang, L., Xu, W., Yan, J. & Liu, Q. (2018). A function block based cyber-physical production system for physical human robot interaction. Paper presented at 46th North American Manufacturing Research Conference (NAMRC), JUN 18-22, 2018, Texas A & M Univ, College Station, TX. Journal of manufacturing systems, 48, 12-23
Öppna denna publikation i ny flik eller fönster >>A function block based cyber-physical production system for physical human robot interaction
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2018 (Engelska)Ingår i: Journal of manufacturing systems, ISSN 0278-6125, E-ISSN 1878-6642, Vol. 48, s. 12-23Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Human-robot collaboration (HRC) is becoming a trend in manufacturing industry. However, the dramatic changes of requirements from the market put a higher demand for the flexibility of manufacturing systems. Cyber-Physical Production System (CPPS) which offers benefits of autonomy, self-organisation, and interoperability can be adopted to increase the flexibility of manufacturing systems. IEC 61499 (International Electrotechnical Commission) function blocks (FBs) are modularised and reusable software components for distributed industrial control. It is a suitable technology to realise a CPPS. Therefore, CPPS and FBs can be combined to realise the HRC system. This paper proposes a framework and the implementation method of IEC 61499 FB based CPPS for physical human-robot interaction (pHRI) which is type of HRC. An industrial robot based CPPS for pHRI is decomposed into modularised FBs that can be networked to fulfil manufacturing tasks. An energy consumption FB based on a novel empirical energy consumption model is also added to the system for energy consumption monitoring of the Robot. An assembly case is used to demonstrate the feasibility of the proposed system. Results show that the FB based CPPS for pHRI possesses the potential capability for HRC based assembly. The future work is also discussed.

Ort, förlag, år, upplaga, sidor
ELSEVIER SCI LTD, 2018
Nyckelord
Human robot collaboration (HRC), IEC 61499 function block, Cyber-physical production systems (CPPS), Flexibility
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi
Identifikatorer
urn:nbn:se:kth:diva-238156 (URN)10.1016/j.jmsy.2018.04.010 (DOI)000447483800003 ()2-s2.0-85046138377 (Scopus ID)
Konferens
46th North American Manufacturing Research Conference (NAMRC), JUN 18-22, 2018, Texas A & M Univ, College Station, TX
Anmärkning

QC 20181107

Tillgänglig från: 2018-11-07 Skapad: 2018-11-07 Senast uppdaterad: 2018-11-07Bibliografiskt granskad
Yao, B., Zhou, Z., Wang, L., Xu, W., Liu, Q. & Liu, A. (2018). Sensorless and adaptive admittance control of industrial robot in physical human−robot interaction. Robotics and Computer-Integrated Manufacturing, 51, 158-168
Öppna denna publikation i ny flik eller fönster >>Sensorless and adaptive admittance control of industrial robot in physical human−robot interaction
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2018 (Engelska)Ingår i: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 51, s. 158-168Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

As industrial robots are applied in manufacturing industry on a large-scale and human intelligence is regarded as an important part in manufacturing, physical human−robot interaction (pHRI) which integrates the strength and accuracy of robot with human operator's ability of task cognition has drawn the attention of both academia and industry. However, an industrial robot without extra force/torque sensor for interacting force monitoring cannot be used directly in pHRI, and research on pHRI of industrial robots remains a challenge. In this research, a comprehensive dynamic model of an industrial robot in both dynamic mode and quasi-static mode is obtained to calculate the external force produced by human operator in pHRI and enables sensorless pHRI for industrial robots even in the environment with ambient vibration. Particularly, the dynamics in the process of mode switching which has not been investigated by researchers is studied and compensated by an empirical but effective method. Admittance control is used to transfer the detected force into reference position and velocity of the robot. RBF (Radial Basis Function) network is used to update the damping parameter online in order to reduce the contact force change and the contact force which makes pHRI more natural and easier. The stability of the controller is also discussed. The proposed methods of external force detection and adaptive admittance control show satisfactory behaviour in the experiments.

Ort, förlag, år, upplaga, sidor
Elsevier, 2018
Nyckelord
Adaptive admittance control, Dynamics, Physical human−robot interaction, Quasi-static mode
Nationell ämneskategori
Annan teknik
Identifikatorer
urn:nbn:se:kth:diva-220950 (URN)10.1016/j.rcim.2017.12.004 (DOI)000427208500015 ()2-s2.0-85039722115 (Scopus ID)
Anmärkning

QC 20180111

Tillgänglig från: 2018-01-11 Skapad: 2018-01-11 Senast uppdaterad: 2018-04-04Bibliografiskt granskad
Yao, B., Zhou, Z., Wang, L., Xu, W. & Liu, Q. (2018). Sensor-less external force detection for industrial manipulators to facilitate physical human-robot interaction. Journal of Mechanical Science and Technology, 32(10), 4909-4923
Öppna denna publikation i ny flik eller fönster >>Sensor-less external force detection for industrial manipulators to facilitate physical human-robot interaction
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2018 (Engelska)Ingår i: Journal of Mechanical Science and Technology, ISSN 1738-494X, E-ISSN 1976-3824, Vol. 32, nr 10, s. 4909-4923Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Sensor-less external force detection is important for industrial robots which are usually not equipped with external force sensors to be applied in physical human-robot interaction (pHRI). This paper adopts the dynamic models of the robot in both dynamic mode and quasistatic mode to detect the external force. In the dynamic mode, the inertia and friction parameters of the robot are identified with the weighted least squares. The excitation trajectory for parameter identification is optimised. The un-modelled peak points in the joint torque residual are removed by a statistical method. The torque changes of joints in quasi-static mode which are equivalent to the joint pre-sliding friction is modelled with a lumped parameter model, generalised Maxwell slip (GMS) element model. Therefore, there is no need for the switching between the friction models in different modes and this and facilitates the application of dynamic model in the external force detection. The dynamic models of robots both in dynamic mode and quasi-static mode and their effectiveness for external force detection in pHRI are verified by experimental results.

Ort, förlag, år, upplaga, sidor
Korean Society of Mechanical Engineers, 2018
Nyckelord
Dynamics, External force detection, Generalised Maxwell slip element, Parameter identification, Physical human-robot interaction, Dynamic models, Friction, Identification (control systems), Industrial manipulators, Industrial robots, Man machine systems, Manipulators, Parameter estimation, External force detections, Friction parameters, Lumped parameter modeling, Physical human-robot interactions, Physical humanrobot interaction (phri), Quasi-static modes, Weighted least squares, Human robot interaction
Nationell ämneskategori
Maskinteknik
Identifikatorer
urn:nbn:se:kth:diva-247157 (URN)10.1007/s12206-018-0939-5 (DOI)000448196900036 ()2-s2.0-85055343095 (Scopus ID)
Anmärkning

QC 20190507

Tillgänglig från: 2019-05-07 Skapad: 2019-05-07 Senast uppdaterad: 2019-05-07Bibliografiskt granskad

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