Sensorless haptic control for human-robot collaborative assembly

被引：23

作者：

Liu, Sichao ^{[1
]}

Wang, Lihui ^{[1
]}

Wang, Xi Vincent ^{[1
]}

机构：

[1] KTH Royal Inst Technol, Dept Prod Engn, S-10044 Stockholm, Sweden

来源：

CIRP JOURNAL OF MANUFACTURING SCIENCE AND TECHNOLOGY | 2021年 / 32卷

关键词：

Assembly; Robot; Human-robot collaboration; Sensorless haptic control; ADMITTANCE CONTROL; INDUSTRIAL ROBOT; MODEL; SIMULATION;

D O I：

10.1016/j.cirpj.2020.11.015

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents an approach to haptically controlling an industrial robot without using any external sensors for human-robot collaborative assembly. The sensorless haptic control approach is enabled by the dynamic models of the robot where only joint angles and joint torques are measurable. Accurate dynamic models of the robot in the presliding and sliding regimes are developed to estimate the external forces/torques, where the friction model is also explored. The estimated external force applied to the robot by an operator is converted to the reference position and speed of the robot by an admittance controller. In this research, adaptive admittance control is adopted to support human-robot collaborative assembly, naturally and easily, with accurate positioning and control for smooth movement. Moreover, torque-based commands are used to control the robot's assembly operations. Finally, the proposed approach is validated by a case study on assisting an operator during the collaborative assembly of a car engine. (C) 2020 CIRP.

引用

页码：132 / 144

页数：13

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