A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot

doi:10.1109/TII.2019.2900119

	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
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN	1551-3203
	2019-09-01
卷号	15 期号:9 页码:5204-5213
通讯作者	Wang, Shuo(shuo.wang@ia.ac.cn)
摘要	Most 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.
关键词	Dynamic model human-robot interaction industrial robot parameter calibration virtual friction
DOI	10.1109/TII.2019.2900119
关键词[WOS]	FRICTION
收录类别	SCI
语种	英语
资助项目	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] ; 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]
项目资助者	National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS
WOS研究方向	Automation & Control Systems ; Computer Science ; Engineering
WOS类目	Automation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS记录号	WOS:000489584600034
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能控制
引用统计	被引频次：46[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23679
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang, Shuo
作者单位	1.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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 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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