Compliant Control using Force Sensor for Industrial Robot

Mahfud Jiono, Hsien I. Lin*

*此作品的通信作者

研究成果: Conference contribution同行評審

摘要

This study presents an innovative approach to enhance intuitive control in human-robot collaboration scenarios. It focuses on addressing challenges related to collisions that can lead to undesirable robot behavior, such as rebounding and trajectory deviations. To tackle these issues, the study proposes a teaching and control system for collaborative robots, enabling operators to have more flexible control while effectively mitigating instability caused by collision-induced rebound. The main approach is the human-robot collaboration collision index, which continuously collects force data through a force sensor. This collision index is crucial in distinguishing between normal operations and collisions, quantifying the severity of collisions. When a collision is detected, the system dynamically adjusts the robot's movement commands, rapidly increasing the gain during collisions to suppress rebound. This ensures that the robot's end-effector remains at the target position until it stabilizes before returning to normal control gain. Experimental validation was conducted using three different values of the minimum control gain (Kmin), resulting in varying times taken by participants to move the robotic arm. The study found that a Kmin value of 0.8 kN/m yielded consistent and efficient performance with lower variability, making it a promising solution for improving the efficiency and precision of robotic arm operations, particularly in assembly applications.

原文English
主出版物標題2024 10th International Conference on Mechatronics and Robotics Engineering, ICMRE 2024
發行者Institute of Electrical and Electronics Engineers Inc.
頁面51-55
頁數5
ISBN(電子)9798350394276
DOIs
出版狀態Published - 2024
事件10th International Conference on Mechatronics and Robotics Engineering, ICMRE 2024 - Milan, 意大利
持續時間: 27 2月 202429 2月 2024

出版系列

名字2024 10th International Conference on Mechatronics and Robotics Engineering, ICMRE 2024

Conference

Conference10th International Conference on Mechatronics and Robotics Engineering, ICMRE 2024
國家/地區意大利
城市Milan
期間27/02/2429/02/24

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