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  • 1.
    Yao, Bitao
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering. School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China; Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks Wuhan University of Technology Wuhan China.
    Zhou, Z.
    Wang, Lihui
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Xu, W.
    Liu, Q.
    Sensor-less external force detection for industrial manipulators to facilitate physical human-robot interaction2018In: Journal of Mechanical Science and Technology, ISSN 1738-494X, E-ISSN 1976-3824, Vol. 32, no 10, p. 4909-4923Article in journal (Refereed)
    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.

  • 2.
    Yao, Bitao
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering. Wuhan University of Technology, China.
    Zhou, Z.
    Wang, Lihui
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Xu, W.
    Liu, Q.
    Liu, A.
    Sensorless and adaptive admittance control of industrial robot in physical human−robot interaction2018In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 51, p. 158-168Article in journal (Refereed)
    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.

  • 3.
    Yao, Bitao
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Production Systems. Wuhan Univ Technol, Sch Mech & ElWuhan Univ Technol, Hubei Key Lab Broadband Wireless Commun & Sensor, Wuhan 430070, Hubei, Peoples R China..
    Zhou, Zude
    Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430070, Hubei, Peoples R China..
    Wang, Lihui
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Production Systems.
    Xu, Wenjun
    Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Hubei, Peoples R China.;Wuhan Univ Technol, Hubei Key Lab Broadband Wireless Commun & Sensor, Wuhan 430070, Hubei, Peoples R China..
    Yan, Junwei
    Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Hubei, Peoples R China.;Wuhan Univ Technol, Hubei Key Lab Broadband Wireless Commun & Sensor, Wuhan 430070, Hubei, Peoples R China..
    Liu, Quan
    Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Hubei, Peoples R China.;Wuhan Univ Technol, Hubei Key Lab Broadband Wireless Commun & Sensor, Wuhan 430070, Hubei, Peoples R China..
    A function block based cyber-physical production system for physical human robot interaction2018In: Journal of manufacturing systems, ISSN 0278-6125, E-ISSN 1878-6642, Vol. 48, p. 12-23Article in journal (Refereed)
    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.

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