CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
Zhang, Shaolin1,2; Wang, Shuo1,2,3; Jing, Fengshui1,2; Tan, Min1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2019-09-01
Volume15Issue:9Pages:5204-5213
Corresponding AuthorWang, Shuo(shuo.wang@ia.ac.cn)
AbstractMost industrial robots are not capable of teaching by hand and require path points to be specified by teaching pendants. To enable the teaching of industrial robots by hand without any force sensors, this paper proposes a scheme to minimize the external force estimation error and reduce disturbance in the guiding task by using the virtual mass and virtual friction model. In this case, the maximum velocity and acceleration of the robot end effector shall be limited to ensure safety. Thus, the operator is allowed to guide the robot by hand. The joint torque is obtained from the motor current. The inertial force and friction of the links and driving systems are analyzed. The nonlinear dynamic model of the industrial robot is built and its parameters are calibrated by a nonlinear method. The force estimation is referenced to set the virtual friction and to design the force-following controller. Hence the end effector can follow the direction of external force compliantly and suppress jitters. Finally, several experiments on a six degrees of freedom industrial robot demonstrate the validity of the proposed control scheme.
KeywordDynamic model human-robot interaction industrial robot parameter calibration virtual friction
DOI10.1109/TII.2019.2900119
WOS KeywordFRICTION
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Youth Innovation Promotion Association CAS[TII-18-2937] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Youth Innovation Promotion Association CAS[TII-18-2937]
Funding OrganizationNational Natural Science Foundation of China ; Youth Innovation Promotion Association CAS
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000489584600034
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23679
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang, Shuo
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,et al. A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2019,15(9):5204-5213.
APA Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,&Tan, Min.(2019).A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,15(9),5204-5213.
MLA Zhang, Shaolin,et al."A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15.9(2019):5204-5213.
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